mirror of
https://github.com/introlab/rtabmap.git
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Read-only localization mode (#1643)
* Read-only localization mode * Localization: don't update map's node timestamps if statistic after run are not saved * Updated Mem/LocalizationReadOnly description * Updated description of Kp/FlannIndexSaved
This commit is contained in:
matlabbe
@@ -1070,6 +1070,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// Database
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_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
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_ui->checkBox_dbReadOnly->setObjectName(Parameters::kMemLocalizationReadOnly().c_str());
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_ui->spinBox_dbCacheSize->setObjectName(Parameters::kDbSqlite3CacheSize().c_str());
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_ui->comboBox_dbJournalMode->setObjectName(Parameters::kDbSqlite3JournalMode().c_str());
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_ui->comboBox_dbSynchronous->setObjectName(Parameters::kDbSqlite3Synchronous().c_str());
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+196
-176
@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-747</y>
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<y>0</y>
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<width>684</width>
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<height>5110</height>
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</rect>
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@@ -95,7 +95,7 @@
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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>5</number>
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<number>10</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" stretch="0,0">
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@@ -12114,6 +12114,47 @@ When set to false, no new words are added to dictionary, so no more updates are
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<string>Database</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
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<item row="8" column="1">
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<widget class="QLabel" name="label_77">
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<property name="text">
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<string>Sqlite3 journal mode,
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see Sqlite3 doc 'PRAGMA journal_mode'.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_75">
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<property name="text">
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<string>Sqlite3 cache size,
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see Sqlite3 doc 'PRAGMA cache_size'.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_610">
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<property name="text">
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<string>Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., "0.19" vs "0.20" or "1.0" vs "2.0"). Patch version is ignored (e.g., "0.20.1" and "0.20.3" will generate a "0.20" database).</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_keepBinaryData">
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<property name="text">
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@@ -12124,6 +12165,146 @@ When set to false, no new words are added to dictionary, so no more updates are
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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_74">
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<property name="text">
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<string>Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory).</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_89">
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<property name="text">
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<string>Sqlite3 synchronous,
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see Sqlite3 doc 'PRAGMA synchronous'.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_keepNotLinkedNodes">
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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="7" column="0">
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<widget class="QSpinBox" name="spinBox_dbCacheSize">
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<property name="minimum">
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<number>10</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>100</number>
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</property>
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<property name="value">
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<number>2000</number>
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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="QComboBox" name="comboBox_dbSynchronous">
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<property name="currentIndex">
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<number>2</number>
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</property>
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<item>
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<property name="text">
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<string>OFF</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>NORMAL</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>FULL</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 row="10" column="0">
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<widget class="QComboBox" name="comboBox_dbTempStore">
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<item>
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<property name="text">
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<string>DEFAULT</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>FILE</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>MEMORY</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 row="5" column="1">
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<widget class="QLabel" name="label_760">
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<property name="text">
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<string>Depth image compression format (should be ".png" or ".rvl").</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_keepRehearsed">
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<property name="text">
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<string>Keep not linked nodes in db (rehearsed nodes and deleted nodes are saved).</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QLineEdit" name="lineEdit_targetDatabaseVersion">
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<property name="placeholderText">
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<string>major.minor</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_299">
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<property name="text">
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<string>RGB image compression format (should be ".jpg" or ".png").</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_keepRawData">
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<property name="text">
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@@ -12137,14 +12318,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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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_dbInMemory">
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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="7" column="0">
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<item row="8" column="0">
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<widget class="QComboBox" name="comboBox_dbJournalMode">
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<item>
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<property name="text">
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@@ -12173,20 +12347,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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</item>
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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_74">
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<property name="text">
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<string>Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory).</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="10" column="1">
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<widget class="QLabel" name="label_120">
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<property name="text">
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<string>Sqlite3 temp store,
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@@ -12200,132 +12361,23 @@ see Sqlite3 doc 'PRAGMA temp_store'.</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="QComboBox" name="comboBox_dbTempStore">
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<item>
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<property name="text">
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<string>DEFAULT</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>FILE</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>MEMORY</string>
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</property>
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</item>
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</widget>
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<item row="4" column="0">
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<widget class="QLineEdit" name="lineEdit_rgbCompressionFormat"/>
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</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_keepNotLinkedNodes">
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<item row="5" column="0">
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<widget class="QLineEdit" name="lineEdit_depthCompressionFormat"/>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkBox_dbInMemory">
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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="6" column="0">
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<widget class="QSpinBox" name="spinBox_dbCacheSize">
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<property name="minimum">
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<number>10</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>100</number>
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</property>
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<property name="value">
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<number>2000</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_75">
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<property name="text">
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<string>Sqlite3 cache size,
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see Sqlite3 doc 'PRAGMA cache_size'.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_77">
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<property name="text">
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<string>Sqlite3 journal mode,
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see Sqlite3 doc 'PRAGMA journal_mode'.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_89">
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<property name="text">
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<string>Sqlite3 synchronous,
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see Sqlite3 doc 'PRAGMA synchronous'.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QComboBox" name="comboBox_dbSynchronous">
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<property name="currentIndex">
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<number>2</number>
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</property>
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<item>
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<property name="text">
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<string>OFF</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>NORMAL</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>FULL</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 row="1" column="1">
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<widget class="QLabel" name="label_keepRehearsed">
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<property name="text">
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<string>Keep not linked nodes in db (rehearsed nodes and deleted nodes are saved).</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_299">
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<widget class="QLabel" name="label_787">
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<property name="text">
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<string>RGB image compression format (should be ".jpg" or ".png").</string>
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<string>In localization mode, open the database in read-only mode (ignored in SLAM mode). Currrenty incompatible with memory management (i.e., Time and/or Memory thresholds cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless RGBD/StartAtOrigin is used or an external initial pose is provided on initialization.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -12336,41 +12388,9 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
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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="QLineEdit" name="lineEdit_rgbCompressionFormat"/>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_760">
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<widget class="QCheckBox" name="checkBox_dbReadOnly">
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<property name="text">
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<string>Depth image compression format (should be ".png" or ".rvl").</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QLineEdit" name="lineEdit_depthCompressionFormat"/>
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</item>
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||||
<item row="5" column="1">
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<widget class="QLabel" name="label_610">
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||||
<property name="text">
|
||||
<string>Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., "0.19" vs "0.20" or "1.0" vs "2.0"). Patch version is ignored (e.g., "0.20.1" and "0.20.3" will generate a "0.20" database).</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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<property name="textInteractionFlags">
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||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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||||
<item row="5" column="0">
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<widget class="QLineEdit" name="lineEdit_targetDatabaseVersion">
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||||
<property name="placeholderText">
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||||
<string>major.minor</string>
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<string/>
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</property>
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</widget>
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</item>
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||||
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Reference in New Issue
Block a user