mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
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3 Commits
iron-devel
...
0.21.5-jaz
| Author | SHA1 | Date | |
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04fdc0d9e2 | ||
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f2df35be01 | ||
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da9ff08198 |
@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
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#######################
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SET(RTABMAP_MAJOR_VERSION 0)
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SET(RTABMAP_MINOR_VERSION 21)
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SET(RTABMAP_PATCH_VERSION 6)
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SET(RTABMAP_PATCH_VERSION 5)
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SET(RTABMAP_VERSION
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${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
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@@ -201,7 +201,7 @@ private:
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void updateCovariances(const QList<Link> & links);
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void refineLinks(const QList<Link> & links);
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void refineConstraint(int from, int to, bool silent);
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bool addConstraint(int from, int to, bool silent, bool silentlyUseOptimizedGraphAsGuess = false);
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bool addConstraint(int from, int to, bool silent);
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void exportPoses(int format);
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void exportGPS(int format);
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@@ -468,7 +468,6 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_detectMore_intraSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_detectMore_interSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_opt_graph_as_guess, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
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connect(ui_->lineEdit_groundColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
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@@ -636,7 +635,6 @@ void DatabaseViewer::readSettings()
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ui_->spinBox_detectMore_iterations->setValue(settings.value("iterations", ui_->spinBox_detectMore_iterations->value()).toInt());
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ui_->checkBox_detectMore_intraSession->setChecked(settings.value("intra_session", ui_->checkBox_detectMore_intraSession->isChecked()).toBool());
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ui_->checkBox_detectMore_interSession->setChecked(settings.value("inter_session", ui_->checkBox_detectMore_interSession->isChecked()).toBool());
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ui_->checkBox_opt_graph_as_guess->setChecked(settings.value("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked()).toBool());
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settings.endGroup();
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settings.endGroup();
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@@ -727,7 +725,6 @@ void DatabaseViewer::writeSettings()
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settings.setValue("iterations", ui_->spinBox_detectMore_iterations->value());
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settings.setValue("intra_session", ui_->checkBox_detectMore_intraSession->isChecked());
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settings.setValue("inter_session", ui_->checkBox_detectMore_interSession->isChecked());
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settings.setValue("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked());
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settings.endGroup();
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settings.endGroup();
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@@ -805,7 +802,6 @@ void DatabaseViewer::restoreDefaultSettings()
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ui_->spinBox_detectMore_iterations->setValue(5);
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ui_->checkBox_detectMore_intraSession->setChecked(true);
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ui_->checkBox_detectMore_interSession->setChecked(true);
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ui_->checkBox_opt_graph_as_guess->setChecked(true);
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}
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void DatabaseViewer::openDatabase()
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@@ -4219,7 +4215,6 @@ void DatabaseViewer::detectMoreLoopClosures()
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std::pair<int, int> lastAdded(0,0);
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bool intraSession = ui_->checkBox_detectMore_intraSession->isChecked();
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bool interSession = ui_->checkBox_detectMore_interSession->isChecked();
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bool useOptimizedGraphAsGuess = ui_->checkBox_opt_graph_as_guess->isChecked();
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if(!interSession && !intraSession)
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{
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QMessageBox::warning(this, tr("Cannot detect more loop closures"), tr("Intra and inter session parameters are disabled! Enable one or both."));
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@@ -4273,7 +4268,7 @@ void DatabaseViewer::detectMoreLoopClosures()
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delta.getNorm() >= ui_->doubleSpinBox_detectMore_radiusMin->value())
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{
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checkedLoopClosures.insert(std::make_pair(from, to));
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if(addConstraint(from, to, true, useOptimizedGraphAsGuess))
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if(addConstraint(from, to, true))
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{
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UINFO("Added new loop closure between %d and %d.", from, to);
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++added;
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@@ -8565,7 +8560,7 @@ void DatabaseViewer::addConstraint()
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addConstraint(from, to, false);
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}
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bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool silentlyUseOptimizedGraphAsGuess)
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bool DatabaseViewer::addConstraint(int from, int to, bool silent)
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{
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bool switchedIds = false;
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if(from == to)
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@@ -8733,7 +8728,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool silentlyU
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guessFromGraphRejected = true;
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}
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}
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else if(silentlyUseOptimizedGraphAsGuess)
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else
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{
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guess = fromIter->second.inverse() * toIter->second;
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}
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@@ -61,7 +61,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>417</width>
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<width>307</width>
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<height>389</height>
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</rect>
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</property>
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@@ -392,7 +392,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>416</width>
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<width>306</width>
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<height>389</height>
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</rect>
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</property>
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@@ -1634,7 +1634,7 @@
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<item>
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<widget class="QToolBox" name="toolBox">
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<property name="currentIndex">
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<number>2</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_3">
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<property name="geometry">
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@@ -2458,41 +2458,15 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-42</y>
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<width>298</width>
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<height>272</height>
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<y>0</y>
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<width>226</width>
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<height>192</height>
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</rect>
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</property>
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<attribute name="label">
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<string>Detect more loop closures</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
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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>2</number>
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</property>
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<property name="maximum">
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<double>10.000000000000000</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>0.000000000000000</double>
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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_36">
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<property name="text">
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<string>Radius Min</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_32">
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<property name="text">
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@@ -2500,52 +2474,6 @@
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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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<spacer name="verticalSpacer_5">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_29">
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<property name="text">
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<string>Radius Max</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="QLabel" name="label_30">
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<property name="text">
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<string>Angle</string>
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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_detectMore_angle">
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<property name="suffix">
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<string> degrees</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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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_detectMore_radius">
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<property name="suffix">
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@@ -2565,6 +2493,39 @@
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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_29">
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<property name="text">
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<string>Radius Max</string>
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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_detectMore_angle">
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<property name="suffix">
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<string> degrees</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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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_30">
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<property name="text">
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<string>Angle</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="QSpinBox" name="spinBox_detectMore_iterations">
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<property name="minimum">
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@@ -2578,13 +2539,6 @@
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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_detectMore_intraSession">
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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="1">
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<widget class="QLabel" name="label_31">
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<property name="text">
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@@ -2592,6 +2546,19 @@
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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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<spacer name="verticalSpacer_5">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_34">
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<property name="text">
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@@ -2599,6 +2566,13 @@
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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_detectMore_intraSession">
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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="5" column="0">
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<widget class="QCheckBox" name="checkBox_detectMore_interSession">
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<property name="text">
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@@ -2606,23 +2580,29 @@
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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="checkBox_opt_graph_as_guess">
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<item row="1" column="1">
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<widget class="QLabel" name="label_36">
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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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<string>Radius Min</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_37">
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<property name="text">
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<string>Use optimized graph as guess</string>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
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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="wordWrap">
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<bool>true</bool>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="maximum">
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<double>10.000000000000000</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>0.000000000000000</double>
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</property>
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</widget>
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</item>
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@@ -2633,8 +2613,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>432</width>
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<height>196</height>
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<width>185</width>
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<height>485</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>rtabmap</name>
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<version>0.21.6</version>
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<version>0.21.5</version>
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<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
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<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
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<author>Mathieu Labbe</author>
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@@ -15,14 +15,14 @@
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<build_depend>proj</build_depend>
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<depend>cv_bridge</depend>
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<depend>libg2o</depend>
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<depend>gtsam</depend>
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<!-- <depend>gtsam</depend> // Uncomment when this issue https://github.com/borglab/gtsam/issues/1759 is fixed and new binaries are available-->
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<!-- <depend>libopenni2-dev</depend> --> <!-- not available on Jessie -->
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<depend>libpcl-all-dev</depend> <!-- include libvtk-qt -->
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<depend>libpointmatcher</depend> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
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<!-- <depend>libproj-dev</depend> needed due to error in vtk6 (kinetic)-->
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<depend>libsqlite3-dev</depend>
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<depend>liboctomap-dev</depend>
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<depend>grid_map_core</depend>
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<depend>octomap</depend>
|
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<!-- <depend>grid_map_core</depend> // Uncomment when available on jazzy -->
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<depend>qt_gui_cpp</depend> <!-- libqt4-dev or libqt5-dev -->
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<depend>zlib</depend>
|
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Reference in New Issue
Block a user