<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>DatabaseViewer</class>
 <widget class="QMainWindow" name="DatabaseViewer">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>1547</width>
    <height>965</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Database viewer</string>
  </property>
  <property name="layoutDirection">
   <enum>Qt::LeftToRight</enum>
  </property>
  <widget class="QWidget" name="centralwidget">
   <layout class="QVBoxLayout" name="verticalLayout_15" stretch="1,0,0">
    <property name="spacing">
     <number>0</number>
    </property>
    <property name="leftMargin">
     <number>0</number>
    </property>
    <property name="topMargin">
     <number>0</number>
    </property>
    <property name="rightMargin">
     <number>0</number>
    </property>
    <property name="bottomMargin">
     <number>0</number>
    </property>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_imageViews" stretch="1,1">
      <item>
       <widget class="rtabmap::ImageView" name="graphicsView_A" native="true"/>
      </item>
      <item>
       <widget class="rtabmap::ImageView" name="graphicsView_B" native="true"/>
      </item>
     </layout>
    </item>
    <item>
     <layout class="QGridLayout" name="gridLayout_11">
      <property name="spacing">
       <number>0</number>
      </property>
      <item row="0" column="0">
       <widget class="QScrollArea" name="scrollArea_2">
        <property name="horizontalScrollBarPolicy">
         <enum>Qt::ScrollBarAsNeeded</enum>
        </property>
        <property name="widgetResizable">
         <bool>true</bool>
        </property>
        <widget class="QWidget" name="scrollAreaWidgetContents_2">
         <property name="geometry">
          <rect>
           <x>0</x>
           <y>0</y>
           <width>364</width>
           <height>389</height>
          </rect>
         </property>
         <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
          <item row="2" column="0">
           <widget class="QLabel" name="label_childrenA_8">
            <property name="text">
             <string>Weight</string>
            </property>
           </widget>
          </item>
          <item row="11" column="0">
           <widget class="QLabel" name="label_childrenA_24">
            <property name="text">
             <string>Gravity</string>
            </property>
           </widget>
          </item>
          <item row="1" column="0">
           <widget class="QLabel" name="label_childrenA_2">
            <property name="text">
             <string>Children</string>
            </property>
           </widget>
          </item>
          <item row="15" column="1">
           <widget class="QLabel" name="label_sensorsA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="8" column="0">
           <widget class="QLabel" name="label_childrenA_6">
            <property name="text">
             <string>Stamp</string>
            </property>
           </widget>
          </item>
          <item row="10" column="0">
           <widget class="QLabel" name="label_childrenA_22">
            <property name="text">
             <string>Scan</string>
            </property>
           </widget>
          </item>
          <item row="15" column="0">
           <widget class="QLabel" name="label_childrenA_20">
            <property name="text">
             <string>Sensors</string>
            </property>
           </widget>
          </item>
          <item row="10" column="1">
           <widget class="QLabel" name="label_scanA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="5" column="0">
           <widget class="QLabel" name="label_childrenA_12">
            <property name="text">
             <string>Odometry Pose</string>
            </property>
           </widget>
          </item>
          <item row="0" column="0">
           <widget class="QLabel" name="label_parentsA_2">
            <property name="text">
             <string>Parents</string>
            </property>
           </widget>
          </item>
          <item row="2" column="1">
           <widget class="QLabel" name="label_weightA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="13" column="1">
           <widget class="QLabel" name="label_gpsA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="9" column="0">
           <widget class="QLabel" name="label_childrenA_14">
            <property name="text">
             <string>Calib</string>
            </property>
           </widget>
          </item>
          <item row="12" column="0">
           <widget class="QLabel" name="label_childrenA_28">
            <property name="text">
             <string>Prior</string>
            </property>
           </widget>
          </item>
          <item row="7" column="0">
           <widget class="QLabel" name="label_childrenA_18">
            <property name="text">
             <string>Velocity</string>
            </property>
           </widget>
          </item>
          <item row="4" column="1">
           <widget class="QLabel" name="label_mapA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="1" column="1">
           <widget class="QLabel" name="label_childrenA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="4" column="0">
           <widget class="QLabel" name="label_childrenA_10">
            <property name="text">
             <string>Map ID</string>
            </property>
           </widget>
          </item>
          <item row="13" column="0">
           <widget class="QLabel" name="label_childrenA_16">
            <property name="text">
             <string>GPS</string>
            </property>
           </widget>
          </item>
          <item row="14" column="0">
           <widget class="QLabel" name="label_childrenA_27">
            <property name="text">
             <string>Ground Truth</string>
            </property>
           </widget>
          </item>
          <item row="7" column="1">
           <widget class="QLabel" name="label_velA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="3" column="0">
           <widget class="QLabel" name="label_childrenA_4">
            <property name="text">
             <string>Label</string>
            </property>
           </widget>
          </item>
          <item row="5" column="1">
           <widget class="QLabel" name="label_poseA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="9" column="1">
           <widget class="QLabel" name="label_calibA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="3" column="1">
           <widget class="QLabel" name="label_labelA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="11" column="1">
           <widget class="QLabel" name="label_gravityA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="8" column="1">
           <widget class="QLabel" name="label_stampA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="0" column="1">
           <widget class="QLabel" name="label_parentsA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="14" column="1">
           <widget class="QLabel" name="label_gtA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="6" column="0">
           <widget class="QLabel" name="label_childrenA_30">
            <property name="text">
             <string>Optimized Pose</string>
            </property>
           </widget>
          </item>
          <item row="6" column="1">
           <widget class="QLabel" name="label_optposeA">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="12" column="1">
           <layout class="QHBoxLayout" name="horizontalLayout_18">
            <item>
             <widget class="QLabel" name="label_priorA">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QToolButton" name="toolButton_edit_priorA">
              <property name="toolTip">
               <string>Edit Constraint</string>
              </property>
              <property name="text">
               <string>...</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QToolButton" name="toolButton_remove_priorA">
              <property name="toolTip">
               <string>Remove Prior</string>
              </property>
              <property name="text">
               <string>X</string>
              </property>
             </widget>
            </item>
            <item>
             <spacer name="horizontalSpacer_7">
              <property name="orientation">
               <enum>Qt::Horizontal</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>0</width>
                <height>20</height>
               </size>
              </property>
             </spacer>
            </item>
           </layout>
          </item>
         </layout>
        </widget>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QScrollArea" name="scrollArea">
        <property name="horizontalScrollBarPolicy">
         <enum>Qt::ScrollBarAsNeeded</enum>
        </property>
        <property name="widgetResizable">
         <bool>true</bool>
        </property>
        <widget class="QWidget" name="scrollAreaWidgetContents">
         <property name="geometry">
          <rect>
           <x>0</x>
           <y>0</y>
           <width>364</width>
           <height>389</height>
          </rect>
         </property>
         <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
          <item row="4" column="0">
           <widget class="QLabel" name="label_childrenA_11">
            <property name="text">
             <string>Map ID</string>
            </property>
           </widget>
          </item>
          <item row="5" column="1">
           <widget class="QLabel" name="label_poseB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="14" column="0">
           <widget class="QLabel" name="label_childrenA_26">
            <property name="text">
             <string>Ground Truth</string>
            </property>
           </widget>
          </item>
          <item row="3" column="0">
           <widget class="QLabel" name="label_childrenA_5">
            <property name="text">
             <string>Label</string>
            </property>
           </widget>
          </item>
          <item row="1" column="0">
           <widget class="QLabel" name="label_childrenA_3">
            <property name="text">
             <string>Children</string>
            </property>
           </widget>
          </item>
          <item row="15" column="0">
           <widget class="QLabel" name="label_childrenA_21">
            <property name="text">
             <string>Sensors</string>
            </property>
           </widget>
          </item>
          <item row="1" column="1">
           <widget class="QLabel" name="label_childrenB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="8" column="0">
           <widget class="QLabel" name="label_childrenA_7">
            <property name="text">
             <string>Stamp</string>
            </property>
           </widget>
          </item>
          <item row="4" column="1">
           <widget class="QLabel" name="label_mapB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="11" column="1">
           <widget class="QLabel" name="label_gravityB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="3" column="1">
           <widget class="QLabel" name="label_labelB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="7" column="1">
           <widget class="QLabel" name="label_velB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="13" column="1">
           <widget class="QLabel" name="label_gpsB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="5" column="0">
           <widget class="QLabel" name="label_childrenA_13">
            <property name="text">
             <string>Odometry Pose</string>
            </property>
           </widget>
          </item>
          <item row="10" column="0">
           <widget class="QLabel" name="label_childrenA_23">
            <property name="text">
             <string>Scan</string>
            </property>
           </widget>
          </item>
          <item row="10" column="1">
           <widget class="QLabel" name="label_scanB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="9" column="0">
           <widget class="QLabel" name="label_childrenA_15">
            <property name="text">
             <string>Calib</string>
            </property>
           </widget>
          </item>
          <item row="11" column="0">
           <widget class="QLabel" name="label_childrenA_25">
            <property name="text">
             <string>Gravity</string>
            </property>
           </widget>
          </item>
          <item row="0" column="1">
           <widget class="QLabel" name="label_parentsB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="0" column="0">
           <widget class="QLabel" name="label_parentsA_4">
            <property name="text">
             <string>Parents</string>
            </property>
           </widget>
          </item>
          <item row="8" column="1">
           <widget class="QLabel" name="label_stampB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="7" column="0">
           <widget class="QLabel" name="label_childrenA_19">
            <property name="text">
             <string>Velocity</string>
            </property>
           </widget>
          </item>
          <item row="15" column="1">
           <widget class="QLabel" name="label_sensorsB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="9" column="1">
           <widget class="QLabel" name="label_calibB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="2" column="0">
           <widget class="QLabel" name="label_childrenA_9">
            <property name="text">
             <string>Weight</string>
            </property>
           </widget>
          </item>
          <item row="14" column="1">
           <widget class="QLabel" name="label_gtB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="13" column="0">
           <widget class="QLabel" name="label_childrenA_17">
            <property name="text">
             <string>GPS</string>
            </property>
           </widget>
          </item>
          <item row="2" column="1">
           <widget class="QLabel" name="label_weightB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="12" column="0">
           <widget class="QLabel" name="label_childrenA_29">
            <property name="text">
             <string>Prior</string>
            </property>
           </widget>
          </item>
          <item row="6" column="0">
           <widget class="QLabel" name="label_childrenA_31">
            <property name="text">
             <string>Optimized Pose</string>
            </property>
           </widget>
          </item>
          <item row="6" column="1">
           <widget class="QLabel" name="label_optposeB">
            <property name="text">
             <string/>
            </property>
            <property name="textInteractionFlags">
             <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
            </property>
           </widget>
          </item>
          <item row="12" column="1">
           <layout class="QHBoxLayout" name="horizontalLayout_19">
            <item>
             <widget class="QLabel" name="label_priorB">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QToolButton" name="toolButton_edit_priorB">
              <property name="toolTip">
               <string>Edit Constraint</string>
              </property>
              <property name="text">
               <string>...</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QToolButton" name="toolButton_remove_priorB">
              <property name="toolTip">
               <string>Remove Prior</string>
              </property>
              <property name="text">
               <string>X</string>
              </property>
             </widget>
            </item>
            <item>
             <spacer name="horizontalSpacer_8">
              <property name="orientation">
               <enum>Qt::Horizontal</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>0</width>
                <height>20</height>
               </size>
              </property>
             </spacer>
            </item>
           </layout>
          </item>
         </layout>
        </widget>
       </widget>
      </item>
      <item row="1" column="0">
       <layout class="QHBoxLayout" name="horizontalLayout">
        <property name="leftMargin">
         <number>12</number>
        </property>
        <property name="topMargin">
         <number>12</number>
        </property>
        <property name="rightMargin">
         <number>12</number>
        </property>
        <property name="bottomMargin">
         <number>12</number>
        </property>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_4">
          <item>
           <widget class="QLabel" name="label_2">
            <property name="text">
             <string>Index :</string>
            </property>
           </widget>
          </item>
          <item>
           <widget class="QLabel" name="label_3">
            <property name="text">
             <string>Id :</string>
            </property>
           </widget>
          </item>
         </layout>
        </item>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_3">
          <item>
           <widget class="QSpinBox" name="spinBox_indexA">
            <property name="frame">
             <bool>false</bool>
            </property>
           </widget>
          </item>
          <item>
           <widget class="QLabel" name="label_idA">
            <property name="text">
             <string>idA</string>
            </property>
           </widget>
          </item>
         </layout>
        </item>
        <item>
         <widget class="QSlider" name="horizontalSlider_A">
          <property name="focusPolicy">
           <enum>Qt::ClickFocus</enum>
          </property>
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
          <property name="tickPosition">
           <enum>QSlider::TicksAbove</enum>
          </property>
         </widget>
        </item>
       </layout>
      </item>
      <item row="1" column="1">
       <widget class="QWidget" name="widget_imageControls_B" native="true">
        <layout class="QVBoxLayout" name="verticalLayout_6">
         <property name="spacing">
          <number>0</number>
         </property>
         <property name="leftMargin">
          <number>0</number>
         </property>
         <property name="topMargin">
          <number>0</number>
         </property>
         <property name="rightMargin">
          <number>0</number>
         </property>
         <property name="bottomMargin">
          <number>0</number>
         </property>
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout_2">
           <property name="leftMargin">
            <number>12</number>
           </property>
           <property name="topMargin">
            <number>12</number>
           </property>
           <property name="rightMargin">
            <number>12</number>
           </property>
           <property name="bottomMargin">
            <number>12</number>
           </property>
           <item>
            <layout class="QVBoxLayout" name="verticalLayout">
             <item>
              <widget class="QLabel" name="label_5">
               <property name="text">
                <string>Index :</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="label_4">
               <property name="text">
                <string>Id :</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item>
            <layout class="QVBoxLayout" name="verticalLayout_2">
             <item>
              <widget class="QSpinBox" name="spinBox_indexB">
               <property name="frame">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="label_idB">
               <property name="text">
                <string>idB</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item>
            <widget class="QSlider" name="horizontalSlider_B">
             <property name="focusPolicy">
              <enum>Qt::ClickFocus</enum>
             </property>
             <property name="orientation">
              <enum>Qt::Horizontal</enum>
             </property>
             <property name="tickPosition">
              <enum>QSlider::TicksAbove</enum>
             </property>
            </widget>
           </item>
          </layout>
         </item>
        </layout>
       </widget>
      </item>
     </layout>
    </item>
    <item>
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Close</set>
      </property>
     </widget>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menubar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>1547</width>
     <height>22</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuFile">
    <property name="title">
     <string>File</string>
    </property>
    <widget class="QMenu" name="menuExport_poses">
     <property name="title">
      <string>Export poses...</string>
     </property>
     <addaction name="actionRaw_format_txt"/>
     <addaction name="actionRGBD_SLAM_format_txt"/>
     <addaction name="actionRGBD_SLAM_ID_format_txt"/>
     <addaction name="actionRGBD_SLAM_motion_capture_format_txt"/>
     <addaction name="actionKITTI_format_txt"/>
     <addaction name="actionTORO_graph"/>
     <addaction name="actionG2o_g2o"/>
     <addaction name="actionPoses_KML"/>
    </widget>
    <widget class="QMenu" name="menuExport_GPS">
     <property name="title">
      <string>Export GPS...</string>
     </property>
     <addaction name="actionGPS_TXT"/>
     <addaction name="actionGPS_KML"/>
    </widget>
    <addaction name="actionOpen_database"/>
    <addaction name="actionClose_database"/>
    <addaction name="separator"/>
    <addaction name="actionDatabase_recovery"/>
    <addaction name="separator"/>
    <addaction name="actionSave_config"/>
    <addaction name="actionRestore_default_GUI_settings"/>
    <addaction name="separator"/>
    <addaction name="actionGenerate_3D_map_pcd"/>
    <addaction name="actionExport"/>
    <addaction name="actionExtract_images"/>
    <addaction name="menuExport_poses"/>
    <addaction name="menuExport_GPS"/>
    <addaction name="separator"/>
    <addaction name="actionEdit_optimized_2D_map"/>
    <addaction name="actionExport_saved_2D_map"/>
    <addaction name="actionImport_2D_map"/>
    <addaction name="actionRegenerate_optimized_2D_map"/>
    <addaction name="separator"/>
    <addaction name="actionView_optimized_mesh"/>
    <addaction name="actionUpdate_optimized_mesh"/>
    <addaction name="actionExport_optimized_mesh"/>
    <addaction name="separator"/>
    <addaction name="actionQuit"/>
   </widget>
   <widget class="QMenu" name="menuEdit">
    <property name="title">
     <string>Edit</string>
    </property>
    <addaction name="actionGenerate_graph_dot"/>
    <addaction name="actionGenerate_local_graph_dot"/>
    <addaction name="separator"/>
    <addaction name="actionDetect_more_loop_closures"/>
    <addaction name="actionRefine_links"/>
    <addaction name="actionUpdate_all_neighbor_covariances"/>
    <addaction name="actionUpdate_all_loop_closure_covariances"/>
    <addaction name="actionUpdate_all_landmark_covariances"/>
    <addaction name="separator"/>
    <addaction name="actionRegenerate_local_grid_maps"/>
    <addaction name="actionRegenerate_local_grid_maps_selected"/>
    <addaction name="separator"/>
    <addaction name="actionEdit_depth_image"/>
    <addaction name="separator"/>
    <addaction name="actionReset_all_changes"/>
    <addaction name="separator"/>
    <addaction name="actionView_3D_map"/>
   </widget>
   <widget class="QMenu" name="menuView">
    <property name="title">
     <string>View</string>
    </property>
    <addaction name="actionVertical_Layout"/>
    <addaction name="actionConcise_Layout"/>
   </widget>
   <addaction name="menuFile"/>
   <addaction name="menuEdit"/>
   <addaction name="menuView"/>
  </widget>
  <widget class="QDockWidget" name="dockWidget_constraints">
   <property name="windowTitle">
    <string>Constraints view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents">
    <layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0,0">
     <item>
      <layout class="QVBoxLayout" name="layout_constraintsViewer">
       <property name="spacing">
        <number>0</number>
       </property>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_10">
       <item>
        <widget class="QCheckBox" name="checkBox_show3DWords">
         <property name="text">
          <string>Words</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_show3Dclouds">
         <property name="text">
          <string>Clouds</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_show2DScans">
         <property name="text">
          <string>Scans</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_odomFrame">
         <property name="text">
          <string>Odom Frame</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_3">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>0</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0">
       <item row="5" column="1">
        <layout class="QHBoxLayout" name="horizontalLayout_13">
         <item>
          <widget class="QLabel" name="label_variance">
           <property name="text">
            <string/>
           </property>
           <property name="textInteractionFlags">
            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
           </property>
          </widget>
         </item>
         <item>
          <widget class="QLineEdit" name="lineEdit_covariance">
           <property name="readOnly">
            <bool>true</bool>
           </property>
          </widget>
         </item>
        </layout>
       </item>
       <item row="0" column="0">
        <widget class="QLabel" name="label">
         <property name="text">
          <string>Neighbor links</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QSlider" name="horizontalSlider_neighbors">
         <property name="focusPolicy">
          <enum>Qt::ClickFocus</enum>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QLabel" name="label_6">
         <property name="text">
          <string>Loop closure links</string>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QSlider" name="horizontalSlider_loops">
         <property name="focusPolicy">
          <enum>Qt::ClickFocus</enum>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="label_33">
         <property name="text">
          <string>Type</string>
         </property>
        </widget>
       </item>
       <item row="7" column="0">
        <widget class="QCheckBox" name="checkBox_showOptimized">
         <property name="text">
          <string>Optimized</string>
         </property>
        </widget>
       </item>
       <item row="7" column="1">
        <widget class="QLabel" name="label_constraint_opt">
         <property name="text">
          <string/>
         </property>
         <property name="textInteractionFlags">
          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
         </property>
        </widget>
       </item>
       <item row="5" column="0">
        <widget class="QLabel" name="label_18">
         <property name="text">
          <string>σ (lin, ang), cov</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <layout class="QHBoxLayout" name="horizontalLayout_14" stretch="0,1">
         <item>
          <widget class="QLabel" name="label_type">
           <property name="text">
            <string/>
           </property>
           <property name="textInteractionFlags">
            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
           </property>
          </widget>
         </item>
         <item>
          <widget class="QLabel" name="label_type_name">
           <property name="text">
            <string/>
           </property>
           <property name="textInteractionFlags">
            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
           </property>
          </widget>
         </item>
        </layout>
       </item>
       <item row="3" column="1">
        <layout class="QHBoxLayout" name="horizontalLayout_16">
         <item>
          <widget class="QLabel" name="label_constraint">
           <property name="text">
            <string/>
           </property>
           <property name="textInteractionFlags">
            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
           </property>
          </widget>
         </item>
         <item>
          <widget class="QToolButton" name="toolButton_constraint">
           <property name="toolTip">
            <string>Edit Constraint</string>
           </property>
           <property name="text">
            <string>...</string>
           </property>
          </widget>
         </item>
         <item>
          <spacer name="horizontalSpacer_6">
           <property name="orientation">
            <enum>Qt::Horizontal</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>40</width>
             <height>20</height>
            </size>
           </property>
          </spacer>
         </item>
        </layout>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_16">
         <property name="text">
          <string>Transform</string>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_5">
       <item>
        <widget class="QPushButton" name="pushButton_refine">
         <property name="toolTip">
          <string>Refine with the registration strategy set in &quot;Core Parameters&quot;-&gt;&quot;Reg&quot;</string>
         </property>
         <property name="text">
          <string>Refine</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_reset">
         <property name="text">
          <string>Reset</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_add">
         <property name="text">
          <string>Add</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_enableForAll">
         <property name="toolTip">
          <string>Enable &quot;Add&quot; for all nodes (even not in graph)</string>
         </property>
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_reject">
         <property name="text">
          <string>Reject</string>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>0</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_graphView">
   <property name="windowTitle">
    <string>Graph view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidget_graphContents">
    <layout class="QVBoxLayout" name="verticalLayout_9">
     <item>
      <widget class="rtabmap::GraphViewer" name="graphViewer"/>
     </item>
     <item>
      <widget class="QWidget" name="widget_graphControl" native="true">
       <layout class="QVBoxLayout" name="verticalLayout_61">
        <property name="spacing">
         <number>0</number>
        </property>
        <property name="leftMargin">
         <number>0</number>
        </property>
        <property name="topMargin">
         <number>0</number>
        </property>
        <property name="rightMargin">
         <number>0</number>
        </property>
        <property name="bottomMargin">
         <number>0</number>
        </property>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_91">
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_15">
            <item>
             <widget class="QLabel" name="label_rotation">
              <property name="text">
               <string>0.0 deg</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QSlider" name="horizontalSlider_rotation">
              <property name="focusPolicy">
               <enum>Qt::ClickFocus</enum>
              </property>
              <property name="minimum">
               <number>-1799</number>
              </property>
              <property name="maximum">
               <number>1800</number>
              </property>
              <property name="sliderPosition">
               <number>0</number>
              </property>
              <property name="orientation">
               <enum>Qt::Horizontal</enum>
              </property>
              <property name="tickPosition">
               <enum>QSlider::TicksAbove</enum>
              </property>
              <property name="tickInterval">
               <number>100</number>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QPushButton" name="pushButton_applyRotation">
              <property name="toolTip">
               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The rotation will be applied temporary to optimized global graph. To save it to database, do File-&amp;gt;&amp;quot;Regenerate optimized 2D map...&amp;quot;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
              <property name="text">
               <string>Apply Rotation</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_4">
            <item>
             <widget class="QLabel" name="label_iterations">
              <property name="text">
               <string>#</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QSlider" name="horizontalSlider_iterations">
              <property name="focusPolicy">
               <enum>Qt::ClickFocus</enum>
              </property>
              <property name="orientation">
               <enum>Qt::Horizontal</enum>
              </property>
              <property name="tickPosition">
               <enum>QSlider::TicksAbove</enum>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QComboBox" name="comboBox_optimizationFlavor">
              <property name="sizeAdjustPolicy">
               <enum>QComboBox::AdjustToContents</enum>
              </property>
              <item>
               <property name="text">
                <string>Global Iterative</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Global Full</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Local Optimized</string>
               </property>
              </item>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
            <item row="1" column="1">
             <widget class="QLabel" name="label_alignPosesWithGPS">
              <property name="text">
               <string>Align poses with GPS</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="8" column="1">
             <widget class="QLabel" name="label_45">
              <property name="text">
               <string>Time grid (s)</string>
              </property>
             </widget>
            </item>
            <item row="7" column="1">
             <widget class="QLabel" name="label_39">
              <property name="text">
               <string>Time optimization (s)</string>
              </property>
             </widget>
            </item>
            <item row="7" column="0">
             <widget class="QLabel" name="label_timeOptimization">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QCheckBox" name="checkBox_alignPosesWithGPS">
              <property name="text">
               <string/>
              </property>
              <property name="checked">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QCheckBox" name="checkBox_alignScansCloudsWithGroundTruth">
              <property name="text">
               <string/>
              </property>
              <property name="checked">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="9" column="0">
             <widget class="QLabel" name="label_rmse">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_alignPosesWithGroundTruth">
              <property name="text">
               <string>Align poses with ground truth</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="9" column="1">
             <widget class="QLabel" name="label_rmse_title">
              <property name="text">
               <string>RMSE (m)</string>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,1">
              <item>
               <widget class="QLabel" name="label_optimizeFrom">
                <property name="text">
                 <string>Root</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QCheckBox" name="checkBox_spanAllMaps">
                <property name="text">
                 <string>Span to all maps</string>
                </property>
                <property name="checked">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QCheckBox" name="checkBox_wmState">
                <property name="text">
                 <string>WM</string>
                </property>
               </widget>
              </item>
             </layout>
            </item>
            <item row="0" column="0">
             <widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
            </item>
            <item row="11" column="0">
             <widget class="QLabel" name="label_loopClosures">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="10" column="0">
             <widget class="QLabel" name="label_poses">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_ignoreINtermediateNdoes">
              <property name="text">
               <string>Ignore intermediate nodes</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="6" column="0">
             <widget class="QLabel" name="label_pathLength">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="10" column="1">
             <widget class="QLabel" name="label_52">
              <property name="text">
               <string>Poses</string>
              </property>
             </widget>
            </item>
            <item row="6" column="1">
             <widget class="QLabel" name="label_10">
              <property name="text">
               <string>Path length (m)</string>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_alignScansCloudsWithGroundTruth">
              <property name="text">
               <string>Align scans/clouds with ground truth</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="11" column="1">
             <widget class="QLabel" name="label_41">
              <property name="toolTip">
               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;N: Neighbor&lt;/p&gt;&lt;p&gt;NM: Neighbor Merged&lt;/p&gt;&lt;p&gt;G: Global&lt;/p&gt;&lt;p&gt;LS: Local by Space (Proximity)&lt;/p&gt;&lt;p&gt;LT: Local by Time (Proximity)&lt;/p&gt;&lt;p&gt;U: User&lt;/p&gt;&lt;p&gt;P: Prior&lt;/p&gt;&lt;p&gt;LM: Landmark&lt;/p&gt;&lt;p&gt;GR: Gravity&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
              <property name="text">
               <string>Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
              </property>
             </widget>
            </item>
            <item row="8" column="0">
             <widget class="QLabel" name="label_timeGrid">
              <property name="text">
               <string/>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QCheckBox" name="checkBox_ignoreIntermediateNodes">
              <property name="text">
               <string/>
              </property>
              <property name="checked">
               <bool>false</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
              <property name="text">
               <string/>
              </property>
              <property name="checked">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="5" column="1">
             <widget class="QLabel" name="label_21">
              <property name="text">
               <string>Env Sensor Colormap</string>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <widget class="QComboBox" name="comboBox_env_sensor_graph_colormap">
              <item>
               <property name="text">
                <string>Disabled</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Wifi</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Temperature</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Air Pressure</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Light</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Relative Humidity</string>
               </property>
              </item>
             </widget>
            </item>
           </layout>
          </item>
         </layout>
        </item>
       </layout>
      </widget>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_guiparameters">
   <property name="floating">
    <bool>false</bool>
   </property>
   <property name="allowedAreas">
    <set>Qt::AllDockWidgetAreas</set>
   </property>
   <property name="windowTitle">
    <string>GUI Parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_3">
    <layout class="QVBoxLayout" name="verticalLayout_10">
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
       <item row="0" column="0">
        <widget class="QComboBox" name="comboBox_logger_level">
         <property name="currentIndex">
          <number>1</number>
         </property>
         <item>
          <property name="text">
           <string>Debug</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>Info</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>Warning</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>Error</string>
          </property>
         </item>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_logger_level">
         <property name="text">
          <string>Logger level</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <widget class="QToolBox" name="toolBox">
       <property name="currentIndex">
        <number>2</number>
       </property>
       <widget class="QWidget" name="page_3">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>403</width>
          <height>188</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Graph optimization</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
         <item row="2" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="4" column="2">
          <widget class="QLabel" name="label_49">
           <property name="text">
            <string>Ignore local loop closures (time)</string>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="2" column="2">
          <widget class="QLabel" name="label_48">
           <property name="text">
            <string>Ignore global loop closures</string>
           </property>
          </widget>
         </item>
         <item row="1" column="2">
          <widget class="QLabel" name="label_35">
           <property name="text">
            <string>Ignore pose correction</string>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="7" column="0">
          <spacer name="verticalSpacer_3">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>0</width>
             <height>40</height>
            </size>
           </property>
          </spacer>
         </item>
         <item row="5" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreUserLoop">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="5" column="2">
          <widget class="QLabel" name="label_50">
           <property name="text">
            <string>Ignore user loop closures</string>
           </property>
          </widget>
         </item>
         <item row="3" column="2">
          <widget class="QLabel" name="label_47">
           <property name="text">
            <string>Ignore local loop closures (space)</string>
           </property>
          </widget>
         </item>
         <item row="0" column="2">
          <widget class="QLabel" name="label_scale_title">
           <property name="text">
            <string>Scale</string>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_optimizationScale">
           <property name="decimals">
            <number>3</number>
           </property>
           <property name="minimum">
            <double>0.100000000000000</double>
           </property>
           <property name="maximum">
            <double>9.900000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.001000000000000</double>
           </property>
           <property name="value">
            <double>1.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="6" column="2">
          <widget class="QLabel" name="label_58">
           <property name="text">
            <string>Ignore landmarks</string>
           </property>
          </widget>
         </item>
         <item row="6" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreLandmarks">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_4">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>518</width>
          <height>1071</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Grid/cloud generation</string>
        </attribute>
        <layout class="QVBoxLayout" name="verticalLayout_16">
         <item>
          <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
           <item row="3" column="1">
            <widget class="QLabel" name="label_octomap_empty_3">
             <property name="text">
              <string>Ground cell color</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="14" column="1">
            <widget class="QLabel" name="label_61">
             <property name="text">
              <string>Minimum depth confidence.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="18" column="1">
            <widget class="QLabel" name="label_59">
             <property name="text">
              <string>Show probabilistic occupancy grid in Graph View.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="11" column="0">
            <widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
             <property name="text">
              <string/>
             </property>
             <property name="checked">
              <bool>false</bool>
             </property>
            </widget>
           </item>
           <item row="0" column="0">
            <widget class="QCheckBox" name="checkBox_grid_empty">
             <property name="text">
              <string/>
             </property>
             <property name="checked">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="17" column="0">
            <widget class="QSpinBox" name="spinBox_cropRadius">
             <property name="suffix">
              <string> pixels</string>
             </property>
             <property name="value">
              <number>1</number>
             </property>
            </widget>
           </item>
           <item row="20" column="1">
            <widget class="QLabel" name="label_logger_level_2">
             <property name="text">
              <string>For stereo data, show disparity instead of right image in main views.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="13" column="0">
            <widget class="QSpinBox" name="spinBox_decimation">
             <property name="prefix">
              <string/>
             </property>
             <property name="minimum">
              <number>1</number>
             </property>
             <property name="maximum">
              <number>16</number>
             </property>
             <property name="value">
              <number>16</number>
             </property>
            </widget>
           </item>
           <item row="5" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_17">
             <item>
              <widget class="QToolButton" name="toolButton_frontierColor">
               <property name="text">
                <string>...</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLineEdit" name="lineEdit_frontierColor">
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item row="17" column="1">
            <widget class="QLabel" name="label_57">
             <property name="text">
              <string>Crop radius when filtering empty space from 2d occupancy grid.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="18" column="0">
            <widget class="QCheckBox" name="checkBox_grid_showProbMap">
             <property name="text">
              <string/>
             </property>
             <property name="checked">
              <bool>false</bool>
             </property>
            </widget>
           </item>
           <item row="19" column="1">
            <widget class="QLabel" name="label_60">
             <property name="text">
              <string>Create RGB-D cloud from RGB projection on scan.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="11" column="1">
            <widget class="QLabel" name="label_55">
             <property name="text">
              <string>Local grid: regenerate from saved grid instead of sensors</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="10" column="1">
            <widget class="QLabel" name="label_octomap_depth">
             <property name="text">
              <string>OctoMap: Tree depth</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="9" column="1">
            <widget class="QLabel" name="label_octomap_cubes">
             <property name="text">
              <string>OctoMap: Rendering type</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="2" column="1">
            <widget class="QLabel" name="label_octomap_empty_2">
             <property name="text">
              <string>Obstacle cell color</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="12" column="1">
            <widget class="QLabel" name="label_51">
             <property name="text">
              <string>Gain compensation radius (Constraints view)</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="1" column="0">
            <widget class="QCheckBox" name="checkBox_grid_frontiers">
             <property name="text">
              <string/>
             </property>
             <property name="checked">
              <bool>false</bool>
             </property>
            </widget>
           </item>
           <item row="19" column="0">
            <widget class="QCheckBox" name="checkBox_cameraProjection">
             <property name="text">
              <string/>
             </property>
             <property name="checked">
              <bool>false</bool>
             </property>
            </widget>
           </item>
           <item row="0" column="1">
            <widget class="QLabel" name="label_octomap_empty">
             <property name="text">
              <string>Show empty space</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="1" column="1">
            <widget class="QLabel" name="label_octomap_frontiers">
             <property name="text">
              <string>Show frontiers</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="6" column="1">
            <widget class="QLabel" name="label_53">
             <property name="text">
              <string>OctoMap</string>
             </property>
            </widget>
           </item>
           <item row="16" column="1">
            <widget class="QLabel" name="label_54">
             <property name="text">
              <string>Voxel size (for clouds and scans)</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="9" column="0">
            <widget class="QComboBox" name="comboBox_octomap_rendering_type">
             <item>
              <property name="text">
               <string>Point Cloud</string>
              </property>
             </item>
             <item>
              <property name="text">
               <string>Cube</string>
              </property>
             </item>
             <item>
              <property name="text">
               <string>Volume</string>
              </property>
             </item>
            </widget>
           </item>
           <item row="10" column="0">
            <widget class="QSpinBox" name="spinBox_grid_depth">
             <property name="prefix">
              <string/>
             </property>
             <property name="minimum">
              <number>0</number>
             </property>
             <property name="maximum">
              <number>16</number>
             </property>
             <property name="value">
              <number>16</number>
             </property>
            </widget>
           </item>
           <item row="12" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_gainCompensationRadius">
             <property name="suffix">
              <string> m</string>
             </property>
             <property name="decimals">
              <number>2</number>
             </property>
             <property name="minimum">
              <double>0.000000000000000</double>
             </property>
             <property name="maximum">
              <double>10.000000000000000</double>
             </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
              <double>0.000000000000000</double>
             </property>
            </widget>
           </item>
           <item row="5" column="1">
            <widget class="QLabel" name="label_octomap_frontiers_3">
             <property name="text">
              <string>Frontier cell color</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="4" column="1">
            <widget class="QLabel" name="label_octomap_empty_4">
             <property name="text">
              <string>Empty cell color</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="13" column="1">
            <widget class="QLabel" name="label_56">
             <property name="text">
              <string>Decimation (for images)</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="6" column="0">
            <widget class="QCheckBox" name="checkBox_octomap">
             <property name="text">
              <string/>
             </property>
            </widget>
           </item>
           <item row="3" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_9">
             <item>
              <widget class="QToolButton" name="toolButton_groundColor">
               <property name="text">
                <string>...</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLineEdit" name="lineEdit_groundColor">
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item row="16" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
             <property name="suffix">
              <string> m</string>
             </property>
             <property name="decimals">
              <number>3</number>
             </property>
             <property name="minimum">
              <double>0.000000000000000</double>
             </property>
             <property name="maximum">
              <double>99.000000000000000</double>
             </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
              <double>0.000000000000000</double>
             </property>
            </widget>
           </item>
           <item row="2" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_11">
             <item>
              <widget class="QToolButton" name="toolButton_obstacleColor">
               <property name="text">
                <string>...</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLineEdit" name="lineEdit_obstacleColor">
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item row="20" column="0">
            <widget class="QCheckBox" name="checkBox_showDisparityInsteadOfRight">
             <property name="text">
              <string/>
             </property>
             <property name="checked">
              <bool>false</bool>
             </property>
            </widget>
           </item>
           <item row="4" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_12">
             <item>
              <widget class="QToolButton" name="toolButton_emptyColor">
               <property name="text">
                <string>...</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLineEdit" name="lineEdit_emptyColor">
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item row="15" column="1">
            <widget class="QLabel" name="label_62">
             <property name="text">
              <string>Depth's edge bleeding filtering error.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item row="15" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_depthEdgeBleedingError">
             <property name="suffix">
              <string> m</string>
             </property>
             <property name="decimals">
              <number>2</number>
             </property>
             <property name="minimum">
              <double>0.000000000000000</double>
             </property>
             <property name="maximum">
              <double>10.000000000000000</double>
             </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
              <double>0.000000000000000</double>
             </property>
            </widget>
           </item>
           <item row="14" column="0">
            <widget class="QSpinBox" name="spinBox_depthConfidence">
             <property name="suffix">
              <string> %</string>
             </property>
             <property name="minimum">
              <number>0</number>
             </property>
             <property name="maximum">
              <number>100</number>
             </property>
             <property name="value">
              <number>0</number>
             </property>
            </widget>
           </item>
          </layout>
         </item>
         <item>
          <widget class="QGroupBox" name="groupBox_posefiltering">
           <property name="title">
            <string>Pose filtering</string>
           </property>
           <property name="checkable">
            <bool>true</bool>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
           <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
            <item row="4" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringAngle">
              <property name="suffix">
               <string> degrees</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="maximum">
               <double>180.000000000000000</double>
              </property>
              <property name="value">
               <double>30.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringRadius">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="minimum">
               <double>0.010000000000000</double>
              </property>
              <property name="value">
               <double>0.100000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_42">
              <property name="text">
               <string>Radius</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_43">
              <property name="text">
               <string>Angle</string>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <spacer name="verticalSpacer_4">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
                <height>40</height>
               </size>
              </property>
             </spacer>
            </item>
           </layout>
          </widget>
         </item>
         <item>
          <widget class="QGroupBox" name="groupBox">
           <property name="title">
            <string>Organized Fast Mesh</string>
           </property>
           <layout class="QGridLayout" name="gridLayout_13">
            <item row="3" column="1">
             <widget class="QLabel" name="label_14">
              <property name="text">
               <string>Triangle size</string>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_12">
              <property name="text">
               <string>Angle tolerance</string>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QSpinBox" name="spinBox_mesh_angleTolerance">
              <property name="suffix">
               <string> deg</string>
              </property>
              <property name="minimum">
               <number>1</number>
              </property>
              <property name="maximum">
               <number>180</number>
              </property>
              <property name="value">
               <number>15</number>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QSpinBox" name="spinBox_mesh_triangleSize">
              <property name="suffix">
               <string> pix</string>
              </property>
              <property name="minimum">
               <number>2</number>
              </property>
              <property name="maximum">
               <number>99</number>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_13">
              <property name="text">
               <string>Quad</string>
              </property>
             </widget>
            </item>
            <item row="5" column="1">
             <widget class="QLabel" name="label_17">
              <property name="text">
               <string>Fill depth holes: error</string>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <widget class="QSpinBox" name="spinBox_mesh_depthError">
              <property name="suffix">
               <string> %</string>
              </property>
              <property name="minimum">
               <number>1</number>
              </property>
              <property name="value">
               <number>10</number>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QCheckBox" name="checkBox_mesh_quad">
              <property name="text">
               <string/>
              </property>
              <property name="checked">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_15">
              <property name="text">
               <string>Fill depth holes: size</string>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QSpinBox" name="spinBox_mesh_fillDepthHoles">
              <property name="suffix">
               <string> pix</string>
              </property>
              <property name="minimum">
               <number>0</number>
              </property>
              <property name="maximum">
               <number>99</number>
              </property>
              <property name="value">
               <number>0</number>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_20">
              <property name="text">
               <string>Min cluster size</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
              <property name="suffix">
               <string/>
              </property>
              <property name="minimum">
               <number>0</number>
              </property>
              <property name="maximum">
               <number>999</number>
              </property>
              <property name="value">
               <number>0</number>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
         <item>
          <spacer name="verticalSpacer_6">
           <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>
          <spacer name="verticalSpacer_2">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>0</width>
             <height>0</height>
            </size>
           </property>
          </spacer>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_5">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>-175</y>
          <width>403</width>
          <height>319</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Detect more loop closures</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
         <item row="2" column="1">
          <widget class="QLabel" name="label_30">
           <property name="text">
            <string>Angle</string>
           </property>
          </widget>
         </item>
         <item row="5" column="1">
          <widget class="QLabel" name="label_34">
           <property name="text">
            <string>Inter-session</string>
           </property>
          </widget>
         </item>
         <item row="5" column="0">
          <widget class="QCheckBox" name="checkBox_detectMore_interSession">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_29">
           <property name="text">
            <string>Radius Max</string>
           </property>
          </widget>
         </item>
         <item row="4" column="1">
          <widget class="QLabel" name="label_32">
           <property name="text">
            <string>Intra-session</string>
           </property>
          </widget>
         </item>
         <item row="9" column="0">
          <spacer name="verticalSpacer_5">
           <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 row="2" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
           <property name="suffix">
            <string> degrees</string>
           </property>
           <property name="decimals">
            <number>0</number>
           </property>
           <property name="maximum">
            <double>180.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>1.000000000000000</double>
           </property>
           <property name="value">
            <double>30.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="QLabel" name="label_36">
           <property name="text">
            <string>Radius Min</string>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <widget class="QSpinBox" name="spinBox_detectMore_iterations">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>100</number>
           </property>
           <property name="value">
            <number>5</number>
           </property>
          </widget>
         </item>
         <item row="7" column="1">
          <widget class="QLabel" name="label_38">
           <property name="text">
            <string>From/to map ID only (-1 is all)</string>
           </property>
          </widget>
         </item>
         <item row="3" column="1">
          <widget class="QLabel" name="label_31">
           <property name="text">
            <string>Iterations</string>
           </property>
          </widget>
         </item>
         <item row="6" column="0">
          <widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <widget class="QCheckBox" name="checkBox_detectMore_intraSession">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>2</number>
           </property>
           <property name="maximum">
            <double>10.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.100000000000000</double>
           </property>
           <property name="value">
            <double>0.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="6" column="1">
          <widget class="QLabel" name="label_37">
           <property name="text">
            <string>Use optimized graph as guess</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>2</number>
           </property>
           <property name="maximum">
            <double>10.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.100000000000000</double>
           </property>
           <property name="value">
            <double>1.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="7" column="0">
          <widget class="QSpinBox" name="spinBox_fromToMapId">
           <property name="minimum">
            <number>-1</number>
           </property>
           <property name="maximum">
            <number>9999</number>
           </property>
           <property name="value">
            <number>-1</number>
           </property>
          </widget>
         </item>
         <item row="8" column="1">
          <widget class="QLabel" name="label_40">
           <property name="text">
            <string>Minimum graph distance</string>
           </property>
          </widget>
         </item>
         <item row="8" column="0">
          <widget class="QSpinBox" name="spinBox_minGraphDistance">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>9999</number>
           </property>
           <property name="value">
            <number>10</number>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_2">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>428</width>
          <height>196</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Refine</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
         <item row="1" column="0">
          <widget class="QSpinBox" name="spinBox_icp_decimation">
           <property name="minimum">
            <number>-32</number>
           </property>
           <property name="maximum">
            <number>32</number>
           </property>
          </widget>
         </item>
         <item row="1" column="2">
          <widget class="QLabel" name="label_9">
           <property name="text">
            <string>Decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="2" column="0" colspan="2">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth"/>
         </item>
         <item row="2" column="2">
          <widget class="QLabel" name="label_11">
           <property name="text">
            <string>Max depth</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="QCheckBox" name="checkBox_icp_from_depth">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="0" column="2">
          <widget class="QLabel" name="label_7">
           <property name="text">
            <string>Generate laser scans from RGB-D images using the following parameters.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <spacer name="verticalSpacer">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>20</width>
             <height>0</height>
            </size>
           </property>
          </spacer>
         </item>
         <item row="3" column="2">
          <widget class="QLabel" name="label_19">
           <property name="text">
            <string>Min depth</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_minDepth"/>
         </item>
        </layout>
       </widget>
      </widget>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_stereoView">
   <property name="windowTitle">
    <string>Stereo view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_stereo">
    <layout class="QVBoxLayout" name="verticalLayout_11" stretch="1,0">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_stereo" stretch="1">
       <item>
        <widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_6">
       <property name="spacing">
        <number>6</number>
       </property>
       <item>
        <widget class="QLabel" name="label_stereo_inliers_name">
         <property name="text">
          <string>Inliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_inliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_slopeOutliers_name">
         <property name="text">
          <string>Slope outliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_slopeOutliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_disparityOutliers_name">
         <property name="text">
          <string>Negative disparity outliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_disparityOutliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_flowOutliers_name">
         <property name="text">
          <string>Flow outliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_flowOutliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_2">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_view3d">
   <property name="windowTitle">
    <string>3D view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_3dviews">
    <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_3dviews">
       <property name="spacing">
        <number>1</number>
       </property>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_3">
       <item>
        <widget class="QCheckBox" name="checkBox_showWords">
         <property name="text">
          <string>Words</string>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_showCloud">
         <property name="text">
          <string>Cloud</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_showMesh">
         <property name="text">
          <string>Mesh</string>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_showScan">
         <property name="text">
          <string>Scan</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_showMap">
         <property name="text">
          <string>Map</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_showGrid">
         <property name="text">
          <string>Grid</string>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_showElevation">
         <property name="toolTip">
          <string>Available if RTAB-Map is built with GridMap</string>
         </property>
         <property name="text">
          <string>Elevation</string>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
         <property name="tristate">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_odomFrame_3dview">
         <property name="toolTip">
          <string>Adjust roll, pitch and height based on odometry pose</string>
         </property>
         <property name="text">
          <string>Odom</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_gravity_3dview">
         <property name="text">
          <string>Gravity</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_4">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_info">
   <property name="windowTitle">
    <string>Info</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_4">
    <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0">
     <item>
      <widget class="QTextEdit" name="textEdit_info">
       <property name="lineWrapMode">
        <enum>QTextEdit::NoWrap</enum>
       </property>
       <property name="readOnly">
        <bool>true</bool>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_coreparameters">
   <property name="windowTitle">
    <string>Core Parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_7">
    <layout class="QVBoxLayout" name="verticalLayout_13">
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <widget class="rtabmap::ParametersToolBox" name="parameters_toolbox" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_statistics">
   <property name="windowTitle">
    <string>Statistics</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_5">
    <layout class="QVBoxLayout" name="verticalLayout_7">
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
       <item row="0" column="0">
        <widget class="QCheckBox" name="checkBox_timeStats">
         <property name="text">
          <string/>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_logger_level_3">
         <property name="text">
          <string>Time (s) used in figures for x-axis instead of node IDs.</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <widget class="rtabmap::StatsToolBox" name="toolBox_statistics" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_occupancyGridView">
   <property name="windowTitle">
    <string>Occupancy Grid</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_occupancyGrid">
    <layout class="QVBoxLayout" name="verticalLayout_14" stretch="1,0">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="leftMargin">
      <number>0</number>
     </property>
     <property name="topMargin">
      <number>0</number>
     </property>
     <property name="rightMargin">
      <number>0</number>
     </property>
     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
      <layout class="QVBoxLayout" name="layout_occupancyGridView">
       <property name="spacing">
        <number>0</number>
       </property>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_8">
       <item>
        <widget class="QCheckBox" name="checkBox_grid_grid">
         <property name="text">
          <string>Grid</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_grid_2d">
         <property name="text">
          <string>2d Map</string>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_grid_elevation">
         <property name="toolTip">
          <string>Available if RTAB-Map is built with GridMap</string>
         </property>
         <property name="text">
          <string>Elevation</string>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
         <property name="tristate">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_5">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <action name="actionOpen_database">
   <property name="text">
    <string>Open database</string>
   </property>
  </action>
  <action name="actionQuit">
   <property name="text">
    <string>Quit</string>
   </property>
  </action>
  <action name="actionGenerate_graph_dot">
   <property name="text">
    <string>Generate graph (*.dot) ...</string>
   </property>
  </action>
  <action name="actionGenerate_local_graph_dot">
   <property name="text">
    <string>Generate local graph (.dot) ...</string>
   </property>
  </action>
  <action name="actionGenerate_3D_map_pcd">
   <property name="text">
    <string>Export 3D map (*.ply *.pcd) ...</string>
   </property>
  </action>
  <action name="actionExport">
   <property name="text">
    <string>Export database...</string>
   </property>
  </action>
  <action name="actionExtract_images">
   <property name="text">
    <string>Extract images...</string>
   </property>
  </action>
  <action name="actionView_3D_map">
   <property name="text">
    <string>View 3D map...</string>
   </property>
  </action>
  <action name="actionRefine_links">
   <property name="text">
    <string>Refine links...</string>
   </property>
   <property name="toolTip">
    <string>Refine selected links with the registration strategy set in &quot;Core Parameters&quot;-&gt;&quot;Reg&quot;, &quot;Vis&quot; and/or &quot;Icp&quot;</string>
   </property>
  </action>
  <action name="actionDetect_more_loop_closures">
   <property name="text">
    <string>Detect more loop closures...</string>
   </property>
  </action>
  <action name="actionSave_config">
   <property name="text">
    <string>Save config</string>
   </property>
  </action>
  <action name="actionReset_all_changes">
   <property name="text">
    <string>Reset link and grid map changes</string>
   </property>
  </action>
  <action name="actionRegenerate_local_grid_maps">
   <property name="text">
    <string>Regenerate local grid maps...</string>
   </property>
  </action>
  <action name="actionRegenerate_local_grid_maps_selected">
   <property name="text">
    <string>Regenerate local grid maps (selected)...</string>
   </property>
  </action>
  <action name="actionEdit_depth_image">
   <property name="text">
    <string>Edit depth image...</string>
   </property>
  </action>
  <action name="actionVertical_Layout">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="checked">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Vertical Layout</string>
   </property>
  </action>
  <action name="actionConcise_Layout">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="checked">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Concise Layout</string>
   </property>
  </action>
  <action name="actionRestore_default_GUI_settings">
   <property name="text">
    <string>Restore default GUI settings</string>
   </property>
  </action>
  <action name="actionRaw_format_txt">
   <property name="text">
    <string>Raw format (*.txt)</string>
   </property>
   <property name="toolTip">
    <string>Raw format (12 values transform)</string>
   </property>
  </action>
  <action name="actionRGBD_SLAM_format_txt">
   <property name="text">
    <string>RGBD-SLAM format (*.txt)</string>
   </property>
   <property name="toolTip">
    <string>RGBD-SLAM (stamp tx ty tz qx qy qz qw)</string>
   </property>
  </action>
  <action name="actionKITTI_format_txt">
   <property name="text">
    <string>KITTI format (*.txt)</string>
   </property>
   <property name="toolTip">
    <string>KITTI (stamp + 12 values transform)</string>
   </property>
  </action>
  <action name="actionTORO_graph">
   <property name="text">
    <string>TORO (*.graph)</string>
   </property>
  </action>
  <action name="actionG2o_g2o">
   <property name="text">
    <string>g2o (*.g2o)</string>
   </property>
  </action>
  <action name="actionGPS_KML">
   <property name="text">
    <string>Google Earth (*.kml)</string>
   </property>
  </action>
  <action name="actionGPS_TXT">
   <property name="text">
    <string>Raw format (*.txt)</string>
   </property>
  </action>
  <action name="actionPoses_KML">
   <property name="text">
    <string>Google Earth (*.kml)</string>
   </property>
  </action>
  <action name="actionDatabase_recovery">
   <property name="text">
    <string>Database recovery</string>
   </property>
  </action>
  <action name="actionClose_database">
   <property name="text">
    <string>Close database</string>
   </property>
  </action>
  <action name="actionExport_saved_2D_map">
   <property name="text">
    <string>Export optimized 2D map...</string>
   </property>
  </action>
  <action name="actionImport_2D_map">
   <property name="text">
    <string>Import optimized 2D map...</string>
   </property>
  </action>
  <action name="actionView_optimized_mesh">
   <property name="text">
    <string>View optimized mesh</string>
   </property>
  </action>
  <action name="actionExport_optimized_mesh">
   <property name="text">
    <string>Export optimized mesh...</string>
   </property>
  </action>
  <action name="actionUpdate_optimized_mesh">
   <property name="text">
    <string>Update optimized mesh...</string>
   </property>
  </action>
  <action name="actionUpdate_all_neighbor_covariances">
   <property name="text">
    <string>Update all neighbor covariances...</string>
   </property>
  </action>
  <action name="actionUpdate_all_loop_closure_covariances">
   <property name="text">
    <string>Update all loop closure covariances...</string>
   </property>
  </action>
  <action name="actionRGBD_SLAM_motion_capture_format_txt">
   <property name="text">
    <string>RGBD-SLAM motion capture format (*.txt)</string>
   </property>
   <property name="toolTip">
    <string>RGBD-SLAM (stamp tx ty tz qx qy qz qw)</string>
   </property>
  </action>
  <action name="actionEdit_optimized_2D_map">
   <property name="text">
    <string>Edit optimized 2D map...</string>
   </property>
  </action>
  <action name="actionRegenerate_optimized_2D_map">
   <property name="text">
    <string>Regenerate optimized 2D map...</string>
   </property>
  </action>
  <action name="actionRGBD_SLAM_ID_format_txt">
   <property name="text">
    <string>RGBD-SLAM ID format (*.txt)</string>
   </property>
  </action>
  <action name="actionUpdate_all_landmark_covariances">
   <property name="text">
    <string>Update all landmark covariances...</string>
   </property>
  </action>
 </widget>
 <customwidgets>
  <customwidget>
   <class>rtabmap::ImageView</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/ImageView.h</header>
  </customwidget>
  <customwidget>
   <class>rtabmap::StatsToolBox</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/StatsToolBox.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::GraphViewer</class>
   <extends>QGraphicsView</extends>
   <header>../include/rtabmap/gui/GraphViewer.h</header>
  </customwidget>
  <customwidget>
   <class>rtabmap::ParametersToolBox</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/ParametersToolBox.h</header>
   <container>1</container>
  </customwidget>
 </customwidgets>
 <resources/>
 <connections/>
</ui>
