mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
New parameter: RGBD/ToroIterations=100 Rtabmap: added getGraph() method to get TORO poses/link constraints Fixed ICP correspondences ratio over 1 CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color DatabaseViewer: added 3D Map view and Graph view MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view. git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -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>736</width>
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<height>456</height>
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<width>1041</width>
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<height>637</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -287,7 +287,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>736</width>
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<width>1041</width>
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<height>25</height>
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</rect>
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</property>
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@@ -298,6 +298,7 @@
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<addaction name="actionOpen_database"/>
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<addaction name="separator"/>
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<addaction name="actionExport"/>
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<addaction name="actionExtract_images"/>
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<addaction name="separator"/>
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<addaction name="actionQuit"/>
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</widget>
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@@ -311,10 +312,167 @@
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<addaction name="actionClean_database"/>
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<addaction name="actionClean_local_graph"/>
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<addaction name="separator"/>
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<addaction name="actionView_3D_map"/>
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<addaction name="actionGenerate_3D_map_pcd"/>
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</widget>
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<widget class="QMenu" name="menuView">
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<property name="title">
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<string>View</string>
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</property>
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</widget>
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<addaction name="menuFile"/>
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<addaction name="menuEdit"/>
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<addaction name="menuView"/>
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</widget>
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<widget class="QDockWidget" name="dockWidget_constraints">
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<property name="windowTitle">
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<string>Constraints view</string>
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</property>
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<attribute name="dockWidgetArea">
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<number>2</number>
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</attribute>
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<widget class="QWidget" name="dockWidgetContents">
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<layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0">
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<item>
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<widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
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</item>
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<item>
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<widget class="QLabel" name="label_constraint">
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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>
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<layout class="QFormLayout" name="formLayout">
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<item row="0" column="0">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Neighbor links</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="QSlider" name="horizontalSlider_neighbors">
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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="tickPosition">
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<enum>QSlider::TicksAbove</enum>
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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="QLabel" name="label_6">
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<property name="text">
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<string>Loop closure links</string>
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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="QSlider" name="horizontalSlider_loops">
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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="tickPosition">
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<enum>QSlider::TicksAbove</enum>
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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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</layout>
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</widget>
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</widget>
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<widget class="QDockWidget" name="dockWidget_graphView">
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<property name="windowTitle">
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<string>Graph view</string>
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</property>
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<attribute name="dockWidgetArea">
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<number>1</number>
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</attribute>
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<widget class="QWidget" name="dockWidgetContents_2">
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<layout class="QVBoxLayout" name="verticalLayout_9">
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<item>
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<widget class="rtabmap::GraphViewer" name="graphViewer"/>
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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="QLabel" name="label_iterations">
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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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<item>
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<widget class="QSlider" name="horizontalSlider_iterations">
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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="tickPosition">
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<enum>QSlider::TicksAbove</enum>
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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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<layout class="QFormLayout" name="formLayout_2">
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<item row="0" column="0">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>TORO iterations:</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="QSpinBox" name="spinBox_iterations">
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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>10</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>100</number>
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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="QLabel" name="label_8">
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<property name="text">
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<string>Optimize from:</string>
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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="QSpinBox" name="spinBox_optimizationsFrom"/>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_initGuess">
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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="1" column="0">
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<widget class="QLabel" name="label_9">
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<property name="text">
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<string>Initial tree guess:</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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</layout>
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</widget>
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</widget>
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<action name="actionOpen_database">
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<property name="text">
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@@ -358,7 +516,7 @@
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</action>
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<action name="actionGenerate_3D_map_pcd">
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<property name="text">
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<string>Generate 3D map (.pcd) ...</string>
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<string>Export 3D map (.pcd) ...</string>
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</property>
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</action>
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<action name="actionExport">
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@@ -366,6 +524,16 @@
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<string>Export...</string>
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</property>
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</action>
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<action name="actionExtract_images">
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<property name="text">
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<string>Extract images...</string>
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</property>
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</action>
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<action name="actionView_3D_map">
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<property name="text">
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<string>View 3D map...</string>
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</property>
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</action>
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</widget>
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<customwidgets>
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<customwidget>
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@@ -373,6 +541,17 @@
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<extends>QGraphicsView</extends>
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<header>rtabmap/gui/ImageView.h</header>
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</customwidget>
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<customwidget>
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<class>rtabmap::CloudViewer</class>
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<extends>QWidget</extends>
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<header>rtabmap/gui/CloudViewer.h</header>
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<container>1</container>
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</customwidget>
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<customwidget>
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<class>rtabmap::GraphViewer</class>
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<extends>QGraphicsView</extends>
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<header>GraphViewer.h</header>
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</customwidget>
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</customwidgets>
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<resources/>
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<connections/>
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