<?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>1041</width>
    <height>637</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Database viewer</string>
  </property>
  <widget class="QWidget" name="centralwidget">
   <layout class="QVBoxLayout" name="verticalLayout_7">
    <property name="spacing">
     <number>0</number>
    </property>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_3">
      <property name="rightMargin">
       <number>0</number>
      </property>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,0,0">
        <property name="spacing">
         <number>0</number>
        </property>
        <item>
         <widget class="rtabmap::ImageView" name="graphicsView_A"/>
        </item>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
          <property name="horizontalScrollBarPolicy">
           <enum>Qt::ScrollBarAsNeeded</enum>
          </property>
          <widget class="QWidget" name="scrollAreaWidgetContents_2">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>344</width>
             <height>81</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
            <item row="0" column="0">
             <widget class="QLabel" name="label_parentsA_2">
              <property name="text">
               <string>Parents</string>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_parentsA">
              <property name="text">
               <string>Parents</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="1" column="1">
             <widget class="QLabel" name="label_childrenA">
              <property name="text">
               <string>Children</string>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
          <property name="margin">
           <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="QLabel" name="label_indexA">
              <property name="text">
               <string>indexA</string>
              </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="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
            <property name="tickPosition">
             <enum>QSlider::TicksAbove</enum>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </item>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0,0">
        <property name="spacing">
         <number>0</number>
        </property>
        <item>
         <widget class="rtabmap::ImageView" name="graphicsView_B"/>
        </item>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="horizontalScrollBarPolicy">
           <enum>Qt::ScrollBarAsNeeded</enum>
          </property>
          <widget class="QWidget" name="scrollAreaWidgetContents">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>344</width>
             <height>81</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
            <item row="0" column="0">
             <widget class="QLabel" name="label_parentsA_4">
              <property name="text">
               <string>Parents</string>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_parentsB">
              <property name="text">
               <string>Parents</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="1" column="1">
             <widget class="QLabel" name="label_childrenB">
              <property name="text">
               <string>Children</string>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_2">
          <property name="margin">
           <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="QLabel" name="label_indexB">
              <property name="text">
               <string>indexB</string>
              </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="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
            <property name="tickPosition">
             <enum>QSlider::TicksAbove</enum>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </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>1041</width>
     <height>25</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuFile">
    <property name="title">
     <string>File</string>
    </property>
    <addaction name="actionOpen_database"/>
    <addaction name="separator"/>
    <addaction name="actionExport"/>
    <addaction name="actionExtract_images"/>
    <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="actionGenerate_TORO_graph_graph"/>
    <addaction name="separator"/>
    <addaction name="actionClean_database"/>
    <addaction name="actionClean_local_graph"/>
    <addaction name="separator"/>
    <addaction name="actionView_3D_map"/>
    <addaction name="actionGenerate_3D_map_pcd"/>
   </widget>
   <widget class="QMenu" name="menuView">
    <property name="title">
     <string>View</string>
    </property>
   </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">
     <item>
      <widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
     </item>
     <item>
      <widget class="QLabel" name="label_constraint">
       <property name="text">
        <string/>
       </property>
      </widget>
     </item>
     <item>
      <layout class="QFormLayout" name="formLayout">
       <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="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="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </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="dockWidgetContents_2">
    <layout class="QVBoxLayout" name="verticalLayout_9">
     <item>
      <widget class="rtabmap::GraphViewer" name="graphViewer"/>
     </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="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QFormLayout" name="formLayout_2">
       <item row="0" column="0">
        <widget class="QLabel" name="label_7">
         <property name="text">
          <string>TORO iterations:</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QSpinBox" name="spinBox_iterations">
         <property name="suffix">
          <string/>
         </property>
         <property name="minimum">
          <number>10</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>100</number>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="label_8">
         <property name="text">
          <string>Optimize from:</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
       </item>
       <item row="1" column="1">
        <widget class="QCheckBox" name="checkBox_initGuess">
         <property name="text">
          <string/>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QLabel" name="label_9">
         <property name="text">
          <string>Initial tree guess:</string>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_10">
         <property name="text">
          <string>Total path length (m):</string>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_pathLength">
         <property name="text">
          <string/>
         </property>
        </widget>
       </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_graph_only_weighted_locations">
   <property name="text">
    <string>Generate graph (only weighted locations) ...</string>
   </property>
  </action>
  <action name="actionClean_database">
   <property name="text">
    <string>Clean database</string>
   </property>
  </action>
  <action name="actionGenerate_local_graph_dot">
   <property name="text">
    <string>Generate local graph (.dot) ...</string>
   </property>
  </action>
  <action name="actionClean_local_graph">
   <property name="text">
    <string>Clean local graph ...</string>
   </property>
  </action>
  <action name="actionUpdate_base_ids">
   <property name="text">
    <string>Update base ids</string>
   </property>
  </action>
  <action name="actionGenerate_3D_map_pcd">
   <property name="text">
    <string>Export 3D map (*.pcd) ...</string>
   </property>
  </action>
  <action name="actionExport">
   <property name="text">
    <string>Export...</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="actionGenerate_TORO_graph_graph">
   <property name="text">
    <string>Generate TORO graph (*.graph)...</string>
   </property>
  </action>
 </widget>
 <customwidgets>
  <customwidget>
   <class>rtabmap::ImageView</class>
   <extends>QGraphicsView</extends>
   <header>rtabmap/gui/ImageView.h</header>
  </customwidget>
  <customwidget>
   <class>rtabmap::CloudViewer</class>
   <extends>QWidget</extends>
   <header>rtabmap/gui/CloudViewer.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::GraphViewer</class>
   <extends>QGraphicsView</extends>
   <header>GraphViewer.h</header>
  </customwidget>
 </customwidgets>
 <resources/>
 <connections/>
</ui>
