mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.
This commit is contained in:
matlabbe
@@ -61,7 +61,7 @@
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@@ -253,7 +253,7 @@
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@@ -1163,7 +1163,7 @@
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<item>
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<widget class="QToolBox" name="toolBox">
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@@ -1332,8 +1332,8 @@
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<rect>
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@@ -1341,7 +1341,7 @@
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<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
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@@ -1374,7 +1374,7 @@
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<item row="2" column="1">
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<item row="1" column="1">
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<widget class="QLabel" name="label_53">
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<property name="text">
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<string>OctoMap</string>
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@@ -1391,41 +1391,7 @@
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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_44">
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<property name="text">
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<string>Errode</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="checkBox_gridErode">
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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="1">
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<widget class="QLabel" name="label_46">
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<property name="text">
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<string>Grid cell size</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="QDoubleSpinBox" name="doubleSpinBox_gridCellSize">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.001000000000000</double>
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<property name="singleStep">
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<double>0.010000000000000</double>
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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_octomap">
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<property name="text">
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<string/>
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@@ -1455,26 +1421,6 @@
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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="checkBox_grid_cubes">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_grid_empty">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QSpinBox" name="spinBox_grid_depth">
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<property name="prefix">
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<string/>
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@@ -1490,25 +1436,83 @@
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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_octomap_empty">
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
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<property name="text">
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<string>OctoMap: Empty space</string>
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_octomap_cubes">
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<property name="text">
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<string>OctoMap: Rendering type</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_octomap_cubes">
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<property name="text">
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<string>OctoMap: Cubes rendering</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_octomap_depth">
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<property name="text">
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<string>OctoMap: Tree depth</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBox_grid_empty">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_55">
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<property name="text">
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<string>Local grid: regenerate from saved grid instead of sensors</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_octomap_empty">
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<property name="text">
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<string>Global grid/OctoMap: show empty space</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QComboBox" name="comboBox_octomap_rendering_type">
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<item>
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<property name="text">
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<string>Point Cloud</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>Cube</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>Volume</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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</layout>
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@@ -65,7 +65,7 @@
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<x>0</x>
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<y>0</y>
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<width>678</width>
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<height>2739</height>
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<height>2778</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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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>16</number>
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<number>3</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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@@ -259,7 +259,7 @@
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<item row="7" column="1">
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<widget class="QLabel" name="label_347">
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<property name="text">
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<string>When a ground truth is provided, align the map with it.</string>
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<string>When a ground truth is provided, align it with the map.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -2107,20 +2107,10 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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_octomap_cubeRendering">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_octomap_treeDepth_5">
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<property name="text">
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<string>Cube rendering. Warning: this requires significant more GPU power.</string>
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<string>OctoMap rendering type. Cube rendering requires significant more GPU power.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -2179,6 +2169,28 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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="QComboBox" name="comboBox_octomap_renderingType">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>Point Cloud</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>Cube</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>Volume</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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</layout>
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</widget>
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</item>
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@@ -9499,7 +9511,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="4" column="1">
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<widget class="QLabel" name="label_363">
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<property name="text">
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<string>2D ray tracing is done for each projected obstacle (when 3D is not checked below), filling unknown space between the sensor and obstacles.</string>
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<string>Ray tracing is done for each obstacle, filling unknown space between the sensor and obstacles. If RTAB-Map is not built with OctoMap and 3D is checked below, 3D ray tracing cannot be done.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -9876,7 +9888,7 @@ 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="4" column="1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_224">
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<property name="text">
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<string>Erode obstacle cells.</string>
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@@ -9889,7 +9901,7 @@ 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="3" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_319">
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<property name="text">
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<string>Footprint radius used to clear all obstacles under the graph.</string>
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@@ -9902,7 +9914,7 @@ 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="4" column="0">
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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_grid_erode">
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<property name="text">
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<string/>
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@@ -9912,7 +9924,7 @@ 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="3" column="0">
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintRadius">
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<property name="suffix">
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<string> m</string>
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@@ -9931,7 +9943,7 @@ 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="1" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_366">
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<property name="text">
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<string>Minimum map size.</string>
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@@ -9944,7 +9956,14 @@ 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="1" column="0">
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<item row="3" column="0">
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<widget class="QSpinBox" name="spinBox_grid_maxNodes">
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<property name="maximum">
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<number>9999</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="QDoubleSpinBox" name="doubleSpinBox_grid_minMapSize">
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<property name="suffix">
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<string> m</string>
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@@ -9966,7 +9985,7 @@ 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="2" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_455">
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<property name="text">
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<string>Maximum nodes assembled in the map starting from the last node (0=unlimited).</string>
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@@ -9979,10 +9998,38 @@ 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="2" column="0">
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<widget class="QSpinBox" name="spinBox_grid_maxNodes">
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<item row="1" column="1">
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<widget class="QLabel" name="label_454">
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<property name="text">
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<string>Graph changed detection error. Update map only if poses in new optimized graph have moved more than this value.</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="QDoubleSpinBox" name="doubleSpinBox_grid_updateError">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.001000000000000</double>
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</property>
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<property name="maximum">
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<number>9999</number>
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<double>99.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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Block a user