mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
Save intermediate node input features
This commit is contained in:
matlabbe
@@ -761,6 +761,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->source_checkBox_ignoreFeatures, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_checkBox_ignorePriors, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_checkBox_ignoreIMU, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_checkBox_intermediateNodesAreNormalNodes, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_spinBox_databaseStartId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_spinBox_databaseStopId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -2229,6 +2230,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->source_checkBox_ignoreFeatures->setChecked(true);
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_ui->source_checkBox_ignorePriors->setChecked(false);
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_ui->source_checkBox_ignoreIMU->setChecked(false);
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_ui->source_checkBox_intermediateNodesAreNormalNodes->setChecked(false);
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_ui->source_spinBox_databaseStartId->setValue(0);
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_ui->source_spinBox_databaseStopId->setValue(0);
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_ui->source_lineEdit_databaseCameraIndex->setText("");
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@@ -2991,6 +2993,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->source_checkBox_ignoreFeatures->setChecked(settings.value("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked()).toBool());
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_ui->source_checkBox_ignorePriors->setChecked(settings.value("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked()).toBool());
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_ui->source_checkBox_ignoreIMU->setChecked(settings.value("ignoreImu", _ui->source_checkBox_ignoreIMU->isChecked()).toBool());
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_ui->source_checkBox_intermediateNodesAreNormalNodes->setChecked(settings.value("intermediateNodesAreNormalNodes", _ui->source_checkBox_intermediateNodesAreNormalNodes->isChecked()).toBool());
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_ui->source_spinBox_databaseStartId->setValue(settings.value("startId", _ui->source_spinBox_databaseStartId->value()).toInt());
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_ui->source_spinBox_databaseStopId->setValue(settings.value("stopId", _ui->source_spinBox_databaseStopId->value()).toInt());
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@@ -3611,6 +3614,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked());
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settings.setValue("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked());
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settings.setValue("ignoreImu", _ui->source_checkBox_ignoreIMU->isChecked());
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settings.setValue("intermediateNodesAreNormalNodes", _ui->source_checkBox_intermediateNodesAreNormalNodes->isChecked());
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settings.setValue("startId", _ui->source_spinBox_databaseStartId->value());
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settings.setValue("stopId", _ui->source_spinBox_databaseStopId->value());
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settings.setValue("cameraIndices", _ui->source_lineEdit_databaseCameraIndex->text());
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@@ -7303,13 +7307,14 @@ Camera * PreferencesDialog::createCamera(
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_ui->source_spinBox_databaseStartId->value(),
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cameraIndices,
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_ui->source_spinBox_databaseStopId->value(),
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!_ui->general_checkBox_createIntermediateNodes->isChecked(),
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!_ui->source_checkBox_intermediateNodesAreNormalNodes->isChecked() && !_ui->general_checkBox_createIntermediateNodes->isChecked(),
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_ui->source_checkBox_ignoreLandmarks->isChecked(),
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_ui->source_checkBox_ignoreFeatures->isChecked(),
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0,
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-1,
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_ui->source_checkBox_ignorePriors->isChecked(),
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_ui->source_checkBox_ignoreIMU->isChecked(),
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_ui->source_checkBox_intermediateNodesAreNormalNodes->isChecked(),
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localTransformOverrides);
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}
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else
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+201
-181
@@ -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>0</y>
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<y>-648</y>
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<width>684</width>
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<height>5218</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>14</number>
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<number>5</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -3469,7 +3469,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>0</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -7180,37 +7180,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1,0">
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<item row="10" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStopId">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>99999</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="QLineEdit" name="source_database_lineEdit_path"/>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="source_checkBox_useDbStamps">
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<item row="8" column="1">
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<widget class="QLabel" name="label_786">
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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="3" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
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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="6" column="1">
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<widget class="QLabel" name="label_644">
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<property name="text">
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<string>Ignore features.</string>
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<string>Ignore IMU (i.e., gravity links).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7220,6 +7193,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QCheckBox" name="source_checkBox_ignoreGoalDelay">
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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="0" column="0">
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<widget class="QToolButton" name="source_database_toolButton_selectSource">
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<property name="text">
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@@ -7227,123 +7207,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_784">
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<item row="10" column="1">
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<widget class="QLabel" name="label_58">
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<property name="text">
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<string>Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a ";" between each transform.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<string>Start position (node ID).</string>
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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="source_checkBox_ignoreOdometry">
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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="11" column="0">
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<widget class="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
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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="13" column="0">
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<widget class="QLineEdit" name="source_lineEdit_databaseLocalTransformOffset"/>
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</item>
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<item row="0" column="2">
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<widget class="QToolButton" name="toolButton_dbViewer">
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<property name="toolTip">
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<string>Open database viewer</string>
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</property>
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<property name="text">
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<string/>
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</property>
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<property name="icon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
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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="QCheckBox" name="source_checkBox_overrideLocalTransforms">
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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="6" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
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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="1" column="1">
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<widget class="QLabel" name="label_72">
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<property name="text">
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<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</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="11" column="1">
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<widget class="QLabel" name="label_315">
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<property name="text">
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<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like "0 2" to stream cameras 0 and 2 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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<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="QCheckBox" name="source_checkBox_ignorePriors">
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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="13" column="1">
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<widget class="QLabel" name="label_785">
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<property name="text">
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<string>Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., "0.05 0.075" for two cameras setup), or set single number to apply to all camera transforms.</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="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartId">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>99999</number>
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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_90">
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<property name="text">
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@@ -7357,25 +7230,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QCheckBox" name="source_checkBox_ignoreLandmarks">
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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="9" column="1">
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<widget class="QLabel" name="label_58">
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<property name="text">
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<string>Start position (node ID).</string>
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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="14" column="0">
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<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
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<item row="8" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreIMU">
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<property name="text">
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<string/>
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</property>
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@@ -7394,6 +7250,139 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QLineEdit" name="source_database_lineEdit_path"/>
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||||
</item>
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||||
<item row="15" column="0">
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<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
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</item>
|
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<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_644">
|
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<property name="text">
|
||||
<string>Ignore features.</string>
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</property>
|
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<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_315">
|
||||
<property name="text">
|
||||
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like "0 2" to stream cameras 0 and 2 only.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QToolButton" name="toolButton_dbViewer">
|
||||
<property name="toolTip">
|
||||
<string>Open database viewer</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset resource="../GuiLib.qrc">
|
||||
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_263">
|
||||
<property name="text">
|
||||
<string>Ignore goals saved in the database.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_797">
|
||||
<property name="text">
|
||||
<string>Publish intermediate nodes as normal nodes.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_557">
|
||||
<property name="text">
|
||||
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_529">
|
||||
<property name="text">
|
||||
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_546">
|
||||
<property name="text">
|
||||
@@ -7407,6 +7396,19 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QLineEdit" name="source_lineEdit_databaseLocalTransformOffset"/>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_80">
|
||||
<property name="text">
|
||||
@@ -7421,9 +7423,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_557">
|
||||
<widget class="QLabel" name="label_785">
|
||||
<property name="text">
|
||||
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
|
||||
<string>Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., "0.05 0.075" for two cameras setup), or set single number to apply to all camera transforms.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -7433,10 +7435,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_529">
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_784">
|
||||
<property name="text">
|
||||
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
|
||||
<string>Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a ";" between each transform.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -7446,10 +7448,34 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_263">
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_overrideLocalTransforms">
|
||||
<property name="text">
|
||||
<string>Ignore goals saved in the database.</string>
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_intermediateNodesAreNormalNodes">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_ignorePriors">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_72">
|
||||
<property name="text">
|
||||
<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -7459,21 +7485,15 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_786">
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
|
||||
<property name="text">
|
||||
<string>Ignore IMU (i.e., gravity links).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_ignoreIMU">
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
|
||||
Reference in New Issue
Block a user