<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>PostProcessingDialog</class>
 <widget class="QDialog" name="PostProcessingDialog">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>553</width>
    <height>662</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Post-Processing</string>
  </property>
  <property name="windowIcon">
   <iconset resource="../GuiLib.qrc">
    <normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
  </property>
  <layout class="QVBoxLayout" name="verticalLayout_3">
   <item>
    <widget class="QGroupBox" name="detectMoreLoopClosures">
     <property name="title">
      <string>Detect more loop closures</string>
     </property>
     <property name="checkable">
      <bool>true</bool>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout">
      <item>
       <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
        <item row="1" column="0">
         <widget class="QDoubleSpinBox" name="clusterAngle">
          <property name="suffix">
           <string> degrees</string>
          </property>
          <property name="decimals">
           <number>0</number>
          </property>
          <property name="minimum">
           <double>0.000000000000000</double>
          </property>
          <property name="maximum">
           <double>180.000000000000000</double>
          </property>
          <property name="value">
           <double>30.000000000000000</double>
          </property>
         </widget>
        </item>
        <item row="0" column="0">
         <widget class="QDoubleSpinBox" name="clusterRadius">
          <property name="suffix">
           <string> m</string>
          </property>
          <property name="minimum">
           <double>0.010000000000000</double>
          </property>
          <property name="maximum">
           <double>99.000000000000000</double>
          </property>
          <property name="singleStep">
           <double>0.010000000000000</double>
          </property>
          <property name="value">
           <double>0.300000000000000</double>
          </property>
         </widget>
        </item>
        <item row="4" column="1">
         <widget class="QLabel" name="label_9">
          <property name="text">
           <string>Inter-session</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="1" column="1">
         <widget class="QLabel" name="clusterAngle_label">
          <property name="text">
           <string>Cluster angle</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="0" column="1">
         <widget class="QLabel" name="label_3">
          <property name="text">
           <string>Cluster radius</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="2" column="0">
         <widget class="QSpinBox" name="iterations">
          <property name="minimum">
           <number>1</number>
          </property>
          <property name="maximum">
           <number>100</number>
          </property>
          <property name="value">
           <number>1</number>
          </property>
         </widget>
        </item>
        <item row="3" column="1">
         <widget class="QLabel" name="label_7">
          <property name="text">
           <string>Intra-session</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="3" column="0">
         <widget class="QCheckBox" name="intraSession">
          <property name="text">
           <string/>
          </property>
         </widget>
        </item>
        <item row="2" column="1">
         <widget class="QLabel" name="label_6">
          <property name="text">
           <string>Iterations</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="4" column="0">
         <widget class="QCheckBox" name="interSession">
          <property name="text">
           <string/>
          </property>
         </widget>
        </item>
        <item row="5" column="1">
         <widget class="QLabel" name="label_11">
          <property name="text">
           <string>Minimum graph distance</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="5" column="0">
         <widget class="QSpinBox" name="minGraphDistance">
          <property name="suffix">
           <string> nodes</string>
          </property>
          <property name="minimum">
           <number>1</number>
          </property>
          <property name="maximum">
           <number>9999</number>
          </property>
          <property name="value">
           <number>10</number>
          </property>
         </widget>
        </item>
       </layout>
      </item>
      <item>
       <widget class="QLabel" name="label">
        <property name="text">
         <string>See &quot;RTAB-Map settings/Motion Estimation&quot; to tune the parameters used.</string>
        </property>
        <property name="wordWrap">
         <bool>true</bool>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <widget class="QGroupBox" name="groupBox_3">
     <property name="title">
      <string>Refine links with ICP</string>
     </property>
     <property name="checkable">
      <bool>false</bool>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout_2">
      <item>
       <widget class="QLabel" name="label_2">
        <property name="text">
         <string>Laser scans are required. See &quot;RTAB-Map settings/Motion Estimation/ICP&quot; to tune the parameters used.</string>
        </property>
        <property name="wordWrap">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="refineNeighborLinks">
        <property name="text">
         <string>Refine neighbor links</string>
        </property>
        <property name="checked">
         <bool>false</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="refineLoopClosureLinks">
        <property name="text">
         <string>Refine loop closure links</string>
        </property>
        <property name="checked">
         <bool>false</bool>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <widget class="QGroupBox" name="sba">
     <property name="title">
      <string>Sparse Bundle Adjustment (SBA)</string>
     </property>
     <property name="checkable">
      <bool>true</bool>
     </property>
     <property name="checked">
      <bool>false</bool>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout_4">
      <item>
       <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
        <item row="1" column="0">
         <widget class="QSpinBox" name="sba_iterations">
          <property name="minimum">
           <number>1</number>
          </property>
          <property name="maximum">
           <number>999999</number>
          </property>
          <property name="value">
           <number>100</number>
          </property>
         </widget>
        </item>
        <item row="1" column="1">
         <widget class="QLabel" name="label_8">
          <property name="text">
           <string>Iterations</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="2" column="1">
         <widget class="QLabel" name="label_variance">
          <property name="text">
           <string>Pixel variance used by g2o.</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="2" column="0">
         <widget class="QDoubleSpinBox" name="sba_variance">
          <property name="suffix">
           <string/>
          </property>
          <property name="decimals">
           <number>2</number>
          </property>
          <property name="minimum">
           <double>0.010000000000000</double>
          </property>
          <property name="maximum">
           <double>999.000000000000000</double>
          </property>
          <property name="singleStep">
           <double>0.010000000000000</double>
          </property>
          <property name="value">
           <double>1.000000000000000</double>
          </property>
         </widget>
        </item>
        <item row="0" column="1">
         <widget class="QLabel" name="label_10">
          <property name="text">
           <string>Type</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="0" column="0">
         <widget class="QComboBox" name="comboBox_sbaType">
          <item>
           <property name="text">
            <string>g2o</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>cvsba</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>Ceres</string>
           </property>
          </item>
         </widget>
        </item>
        <item row="3" column="1">
         <widget class="QLabel" name="label_variance_2">
          <property name="text">
           <string>Rematch features.</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item row="3" column="0">
         <widget class="QCheckBox" name="sba_rematchFeatures">
          <property name="text">
           <string/>
          </property>
         </widget>
        </item>
       </layout>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <spacer name="verticalSpacer">
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
     <property name="sizeHint" stdset="0">
      <size>
       <width>20</width>
       <height>40</height>
      </size>
     </property>
    </spacer>
   </item>
   <item>
    <widget class="QLabel" name="label_4">
     <property name="text">
      <string>Note: Post-processing only affects visualization in the GUI and the export actions. To actually push those optimizations to the database, use Database Viewer tool (Tools-&gt;Edit database...). You can do Edit-&gt;Download graph to revert the changes afterwards.</string>
     </property>
     <property name="wordWrap">
      <bool>true</bool>
     </property>
    </widget>
   </item>
   <item>
    <widget class="QDialogButtonBox" name="buttonBox">
     <property name="orientation">
      <enum>Qt::Horizontal</enum>
     </property>
     <property name="standardButtons">
      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults</set>
     </property>
    </widget>
   </item>
  </layout>
 </widget>
 <resources>
  <include location="../GuiLib.qrc"/>
 </resources>
 <connections/>
</ui>
