mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation
This commit is contained in:
matlabbe
@@ -52,11 +52,11 @@
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@@ -210,8 +210,8 @@
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@@ -484,7 +484,7 @@
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@@ -983,8 +983,8 @@
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@@ -1119,8 +1119,8 @@
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@@ -64,8 +64,8 @@
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>12</number>
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<number>14</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="0,1">
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@@ -4662,6 +4662,16 @@ 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="13" column="0">
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<widget class="QSpinBox" name="spinBox_imagePostDecimation">
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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>16</number>
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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_retrieved_10">
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<property name="text">
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@@ -4802,10 +4812,10 @@ 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="12" column="1">
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<item row="13" column="1">
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<widget class="QLabel" name="label_retrieved_6">
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<property name="text">
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<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
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<string>Image post decimation. This option can be used to save images in lower resolution (size/decimation). It is done on the original 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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@@ -4828,7 +4838,7 @@ 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="13" column="1">
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<item row="14" column="1">
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<widget class="QLabel" name="label_retrieved_8">
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<property name="text">
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<string>If > 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled.</string>
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@@ -4874,7 +4884,7 @@ 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="13" column="0">
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<item row="14" column="0">
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<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
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<property name="minimumSize">
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<size>
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@@ -4890,16 +4900,6 @@ 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="12" column="0">
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<widget class="QSpinBox" name="spinBox_imageDecimation">
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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>16</number>
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
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<property name="text">
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@@ -4933,6 +4933,29 @@ 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="12" column="0">
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<widget class="QSpinBox" name="spinBox_imagePreDecimation">
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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>16</number>
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<widget class="QLabel" name="label_retrieved_13">
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<property name="text">
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<string>Image pre decimation. This option can be used to reduce image size before features extraction.</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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</layout>
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</item>
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<item>
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@@ -7291,14 +7314,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
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<item row="6" column="0">
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<widget class="QCheckBox" name="odom_flow_guessMotion">
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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="QDoubleSpinBox" name="odom_flow_keyframeThr">
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<property name="maximum">
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<double>1.000000000000000</double>
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@@ -7311,6 +7327,13 @@ 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="6" column="0">
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<widget class="QCheckBox" name="odom_flow_guessMotion">
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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="4" column="1">
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<widget class="QLabel" name="label_233">
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<property name="text">
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@@ -7351,7 +7374,7 @@ 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="9" column="0">
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<item row="10" column="0">
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<widget class="QSpinBox" name="odom_dataBufferSize">
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<property name="maximum">
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<number>999999</number>
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@@ -7388,7 +7411,7 @@ 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>
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</item>
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<item row="10" column="0">
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<item row="11" column="0">
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<widget class="QPushButton" name="pushButton_testOdometry">
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<property name="text">
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<string>Test selected odometry</string>
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@@ -7408,7 +7431,7 @@ 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="9" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_232">
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<property name="text">
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<string>Data buffer size (0 means inf).</string>
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@@ -7476,7 +7499,7 @@ 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="7" column="1">
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<item row="8" column="1">
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<widget class="QLabel" name="label_196">
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<property name="text">
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<string>[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
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@@ -7489,7 +7512,7 @@ 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="8" column="1">
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<item row="9" column="1">
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<widget class="QLabel" name="label_246">
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<property name="text">
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<string>[Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
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@@ -7502,7 +7525,7 @@ 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="8" column="0">
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<item row="9" column="0">
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<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
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<property name="maximum">
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<double>1.000000000000000</double>
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@@ -7515,6 +7538,26 @@ 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="7" column="1">
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<widget class="QLabel" name="label_248">
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<property name="text">
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<string>Decimation of images before features extraction.</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="0">
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<widget class="QSpinBox" name="odom_imageDecimation">
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<property name="minimum">
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<number>1</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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