2011-06-05 14:45:39 +00:00
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>preferencesDialog</class>
<widget class="QDialog" name="preferencesDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>892</width>
2011-06-09 02:56:31 +00:00
<height>796</height>
2011-06-05 14:45:39 +00:00
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Preferences</string>
</property>
<property name="windowIcon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
</property>
<layout class="QVBoxLayout" name="verticalLayout_18" stretch="0,0">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QTreeView" name="treeView">
<property name="minimumSize">
<size>
<width>180</width>
<height>0</height>
</size>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
<attribute name="headerVisible">
<bool>false</bool>
</attribute>
2011-06-09 12:56:54 +00:00
<attribute name="headerVisible">
<bool>false</bool>
</attribute>
2011-06-05 14:45:39 +00:00
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>6</number>
</property>
<item>
<widget class="QStackedWidget" name="stackedWidget">
<property name="maximumSize">
<size>
<width>600</width>
<height>16777215</height>
</size>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
2011-06-09 12:56:54 +00:00
<number>2</number>
2011-06-05 14:45:39 +00:00
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
<item>
<widget class="QGroupBox" name="groupBox_generalSettingsGui">
<property name="title">
<string>0General settings (GUI)</string>
</property>
<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,0,10">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_imagesKept">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_59">
<property name="text">
<string>Keep images received. Used to show the loop closure image. (The cache can be cleared with the related action in the Edit menu)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_loggerLevel">
<property name="currentIndex">
<number>1</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</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="1" column="2">
<widget class="QLabel" name="label_60">
<property name="text">
<string>Logger level</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_logger_printTime">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_67">
<property name="text">
<string>Logger print time</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_loggerType">
<property name="currentIndex">
<number>2</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No log</string>
</property>
</item>
<item>
<property name="text">
<string>Console</string>
</property>
</item>
<item>
<property name="text">
<string>File</string>
</property>
</item>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_68">
<property name="text">
<string>Logger type:
when using the file type, logs are saved in Logrtabmap.txt (located in the working directory)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_verticalLayoutUsed">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_70">
<property name="text">
<string>Vertical layout used for the main window </string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_imageRejectedShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_73">
<property name="text">
<string>Show image when an hypothesis is rejected</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Flip image (as like a mirror)</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_imageFlipped">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_61">
<property name="text">
<string>Logger event sent level (fatal messages are always sent)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_loggerEventLevel">
<property name="currentIndex">
<number>1</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</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="3" column="2">
<widget class="QLabel" name="label_62">
<property name="text">
<string>Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="comboBox_loggerPauseLevel">
<property name="currentIndex">
<number>4</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</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>
<item>
<property name="text">
<string>FATAL</string>
</property>
</item>
</widget>
</item>
<item row="10" column="2">
<widget class="QLabel" name="label_88">
<property name="text">
<string>Beep! on special events (finished processing the data set, an error has occured, ...)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_beep">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QSlider" name="horizontalSlider_keypointsOpacity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="sliderPosition">
<number>16</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="11" column="2">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Keypoints opacity</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Save/load configurations</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QPushButton" name="pushButton_saveConfig">
<property name="text">
<string>Save all configurations to ...</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_loadConfig">
<property name="text">
<string>Load all configurations from ...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_24">
<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>
<widget class="QWidget" name="page_4">
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<widget class="QGroupBox" name="groupBox_11">
<property name="title">
<string>0Source</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,10">
<item row="0" column="0">
<widget class="QComboBox" name="source_comboBox_type">
<property name="currentIndex">
<number>0</number>
</property>
<item>
<property name="text">
<string>Usb device (Webcam)</string>
</property>
</item>
<item>
<property name="text">
<string>Images (ex. 1.jpg, 2.jpg...)</string>
</property>
</item>
<item>
<property name="text">
<string>Video file (AVI)</string>
</property>
</item>
<item>
<property name="text">
<string>Database</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Source type</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_imgRate">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Image rate (img/s)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_autoRestart">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Auto restart</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Image width (set to 0 to use the default size of the source)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Image height (set to 0 to use the default size of the source)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="source_spinBox_imgWidth">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="singleStep">
<number>160</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="source_spinBox_imgheight">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="singleStep">
<number>120</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_2">
<property name="currentIndex">
2011-06-07 15:01:39 +00:00
<number>0</number>
2011-06-05 14:45:39 +00:00
</property>
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
<item>
<widget class="QGroupBox" name="source_groupBox_usbDevice">
<property name="title">
<string>Usb device</string>
</property>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0">
<item row="0" column="0">
<widget class="QSpinBox" name="source_usbDevice_spinBox_id">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Usb device</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_8">
<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>
<widget class="QWidget" name="page_5">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="source_groupBox_images">
<property name="title">
<string>Images dataset</string>
</property>
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,10">
<item row="0" column="0">
<widget class="QToolButton" name="source_images_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_images_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="source_images_spinBox_startPos">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Start position (default 1, 0=start from the last)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_images_refreshDir">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Refresh the directory files list after each image loaded</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_9">
<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>
<widget class="QWidget" name="page_6">
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QGroupBox" name="source_groupBox_video">
<property name="title">
<string>Video (AVI)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,10">
<item row="0" column="0">
<widget class="QToolButton" name="source_video_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_video_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_10">
<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>
<widget class="QWidget" name="page_10">
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<widget class="QGroupBox" name="source_groupBox_video_2">
<property name="title">
<string>Database (Sqlite3)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,10">
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="source_database_checkBox_ignoreChildren">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Ignore children signatures</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_11">
<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>
</widget>
</item>
<item>
<spacer name="verticalSpacer_7">
<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>
</layout>
</widget>
<widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>0RTAB-Map settings</string>
</property>
<layout class="QGridLayout" name="gridLayout_4" columnstretch="1,0,10">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_publishStats">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Publish statistics</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Max time allowed (sec)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize">
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_84">
<property name="text">
<string>Images buffer size (0 means inf)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="general_spinBox_minMemorySizeForLoopDetection">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_89">
<property name="text">
<string>Minimum size of the working memory to create loop closure hypotheses</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.950000000000000</double>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_93">
<property name="text">
<string>Loop closure threshold</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_96">
<property name="text">
<string>The loop closure hypothesis must be over LoopRatio x lastHypothesisValue</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_loopRatio">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
2011-06-08 20:19:37 +00:00
<item row="9" column="0">
2011-06-05 14:45:39 +00:00
<widget class="QLineEdit" name="lineEdit_workingDirectory">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
2011-06-08 20:19:37 +00:00
<item row="9" column="2">
2011-06-05 14:45:39 +00:00
<widget class="QLabel" name="label_87">
<property name="text">
<string>Working directory (where the database is saved/loaded)</string>
</property>
</widget>
</item>
2011-06-08 20:19:37 +00:00
<item row="9" column="1">
2011-06-05 14:45:39 +00:00
<widget class="QToolButton" name="toolButton_workingDirectory">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_103">
<property name="text">
<string>Maximum locations retrieved at the same time from LTM to WM.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2011-06-08 20:00:14 +00:00
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_actionsByTime">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Select next actions based only on the more recent neighbor of the current node, otherwise, weight is also used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2011-06-08 20:19:37 +00:00
<item row="8" column="0">
<widget class="QCheckBox" name="general_checkBox_actionsSentRejectHyp">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_40">
<property name="text">
2011-06-09 12:56:54 +00:00
<string>Actions sent also on rejected hypotheses</string>
2011-06-08 20:19:37 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2011-06-05 14:45:39 +00:00
</layout>
</widget>
</item>
<item>
<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>
<widget class="QWidget" name="page_23">
<layout class="QVBoxLayout" name="verticalLayout_27">
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>1Bayes filter</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_31">
<item>
<widget class="QLabel" name="label_76">
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="text">
<string>Prediction probabilities for each loop closure event:
We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. The values of the sliders are in %. LC is the loop closure event. +- values are the probabilities to be at one of the neighbours of the LC after a loop closure on LC. VP (virtual place) is the probability to be in a new place since a loop closure was found on the last iteration.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<layout class="QVBoxLayout" name="verticalLayout_35">
<item>
<widget class="QLabel" name="label_69">
<property name="text">
<string>VP</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QSlider" name="verticalSlider_prediction_vp">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_prediction_vp">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
</size>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
2011-06-09 12:56:54 +00:00
<width>524</width>
<height>138</height>
2011-06-05 14:45:39 +00:00
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>141</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_prior_NM"/>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_28">
<item>
<widget class="QLabel" name="label_64">
<property name="text">
<string>LC</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QSlider" name="verticalSlider_prediction_lp">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_prediction_lp">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_prior_NP"/>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>141</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QFormLayout" name="formLayout_18">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::ExpandingFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Neighbors</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_bayes_neighbors">
<property name="maximum">
<number>9</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_65">
<property name="text">
<string>Prediction</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_bayes_predictionLC">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_66">
<property name="text">
<string>Sum</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_prediction_sum">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_63">
<property name="text">
<string>Preview</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="rtabmap::Plot" name="predictionPlot" native="true">
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_90">
<property name="text">
<string>Prediction probability for the no loop closure event:
The VP here is the probability to be in a new place since no loop closure was found on the last iteration.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout_26">
<item row="0" column="0">
<widget class="QLabel" name="label_91">
<property name="text">
<string>Virtual place prior</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_vp">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.800000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_92">
<property name="text">
<string>(NOTE) If you want to use the virtual place (VP) probability, the option "Common signature used" in the Memory panel must be set to true (this will update the common signature representing the virtual place)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_3">
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QGroupBox" name="groupBox_10">
<property name="title">
<string>1Memory strategy</string>
</property>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,10">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_reactivationThr">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.150000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>Retrieval threshold</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_disableReactivation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Disable memory retrieval</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_reactivatedWordsComparedToNewWords">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_79">
<property name="text">
<string>Retrieved words are compared to the last words added in the dictionary (which are not yet indexed, may be add a time overhead for a minor likelihood improvement)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>15</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Short-time memory size</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_incrementalMemory">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
<string>Incremental Memory</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_commonSignatureUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_83">
<property name="text">
<string>Common signature used (virtual place)</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>(iterations) Delay required to transfer a signature to the database</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="mem_spinBox_delayRequired">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_177">
<property name="text">
<string>Clean the neighborhood of the retrieved id</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_localGraphCleaned">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_33">
<property name="text">
<string>Ratio of locations after the last loop closure in WM that cannot be transferred</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</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>
</layout>
</widget>
<widget class="QWidget" name="page_24">
<layout class="QVBoxLayout" name="verticalLayout_33">
<item>
<widget class="QGroupBox" name="groupBox_12">
<property name="title">
<string>2Database</string>
</property>
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,10">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_85">
<property name="text">
<string>Keep raw data (images) </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_databaseCleaned">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_dbMinSignToSave">
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_dbMinWordsToSave">
<property name="maximum">
<number>9999</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>200</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_dbInMemory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_dbCacheSize">
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>2000</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_75">
<property name="text">
<string>Sqlite3 cache size,
see Sqlite3 doc 'PRAGMA cache_size'</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_dbJournalMode">
<item>
<property name="text">
<string>DELETE</string>
</property>
</item>
<item>
<property name="text">
<string>TRUNCATE</string>
</property>
</item>
<item>
<property name="text">
<string>PERSIST</string>
</property>
</item>
<item>
<property name="text">
<string>MEMORY</string>
</property>
</item>
<item>
<property name="text">
<string>OFF</string>
</property>
</item>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_77">
<property name="text">
<string>Sqlite3 journal mode,
see Sqlite3 doc 'PRAGMA journal_mode'</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_74">
<property name="text">
<string>Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
<string>(KeypointMemory) Minimum visual words needed in the trash to save them. The trash thread will save in a chunk instead of small database queries.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_71">
<property name="text">
<string>Minimum signatures needed in the trash to save them. The trash thread will save in a chunk instead of small database queries.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_86">
<property name="text">
2011-06-08 20:00:14 +00:00
<string>Database auto cleaning : don't save signature with a loop closure (only keeping the newest one).</string>
2011-06-05 14:45:39 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_12">
<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>
<widget class="QWidget" name="page_2">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGroupBox" name="groupBox_9">
<property name="title">
<string>2Rehearsal</string>
</property>
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,10">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_similarityThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Similarity threshold (set to 1 to disable rehearsal)</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Only compare to the last signature in STM, otherwise all signatures in STM are compared.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_similarityOnlyLast">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_13">
<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>
<widget class="QWidget" name="page_9">
<layout class="QVBoxLayout" name="verticalLayout_58">
<item>
<widget class="QGroupBox" name="groupBox_signature_keypoint">
<property name="title">
<string>1Signature</string>
</property>
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,10">
<item row="0" column="0">
<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_22">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Words per image target</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.250000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_81">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_usingAdaptiveResponseThr">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_54">
<property name="text">
<string>Use adaptive response threshold</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="comboBox_detector_strategy">
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>Star</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_117">
<property name="text">
<string>Keypoint detector</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="comboBox_descriptor_strategy">
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>Color+SURF</string>
</property>
</item>
<item>
<property name="text">
<string>Laplacian+SURF</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
<item>
<property name="text">
<string>Hue+SURF</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_24">
<property name="text">
<string>Keypoint descriptor</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_82">
<property name="text">
<string>Use the tf-idf method to compute the likelihood</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_kp_parallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_94">
<property name="text">
<string>If the dictionary update and signature creation were parallelized</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_97">
<property name="text">
<string>Left ROI ratio (0 = no change)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_98">
<property name="text">
<string>Right ROI ratio (0 = no change)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_100">
<property name="text">
<string>Bottom ROI ratio (0 = no change)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom]</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_104">
<property name="text">
<string>If tf-idf weighting is normalized by the words count ratio between compared signatures</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfNormalized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_15">
<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>
<widget class="QWidget" name="page_11">
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<widget class="QGroupBox" name="groupBox_detector_surf">
<property name="title">
<string>2SURF detector</string>
</property>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,10">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_hessianThr">
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>50000.000000000000000</double>
</property>
<property name="value">
<double>500.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Hessian threshold</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="surf_spinBox_octaves">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_26">
<property name="text">
<string>Octaves</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="surf_spinBox_octaveLayers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Octave layers</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="surf_checkBox_gpuVersion">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>GPU version (as well for descriptor) - OpenCV must be compiled with CUDA from NVidia, otherwise, the application may crash if set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="surf_checkBox_upright">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_49">
<property name="text">
<string>U-SURF used (only with GPU version)</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_16">
<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>
<widget class="QWidget" name="page_12">
<layout class="QVBoxLayout" name="verticalLayout_11">
<item>
<widget class="QGroupBox" name="groupBox_detector_star">
<property name="title">
<string>2Star detector</string>
</property>
<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,10">
<item row="0" column="0">
<widget class="QSpinBox" name="star_spinBox_maxSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>128</number>
</property>
<property name="value">
<number>45</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Maximum size</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="star_spinBox_responseThr">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Response threshold</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="star_spinBox_lineThrProj">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Line threshold projected</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="star_spinBox_lineThrBin">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>8</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_44">
<property name="text">
<string>Line threshold binarized</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="star_spinBox_suppressNonmaxSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_46">
<property name="text">
<string>Suppress Nonmax size</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_17">
<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>
<widget class="QWidget" name="page_8">
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QGroupBox" name="groupBox_detector_sift">
<property name="title">
<string>2SIFT detector</string>
</property>
<layout class="QGridLayout" name="gridLayout_19" columnstretch="0,10">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_Thr">
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>50000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.006667000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Threshold</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Edge threshold</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_edgeThr">
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_20">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>579</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_13">
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="QGroupBox" name="groupBox_surfDescriptor">
<property name="title">
<string>2SURF descriptor</string>
</property>
<layout class="QGridLayout" name="gridLayout_17" columnstretch="0,10">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_surfExtended">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Descriptor extended (true=128, false=64)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_18">
<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>
<widget class="QWidget" name="page_14">
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<widget class="QGroupBox" name="groupBox_dictionary_strategy">
<property name="title">
<string>2Dictionary</string>
</property>
<layout class="QGridLayout" name="gridLayout_18" columnstretch="0,0,10">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_dictionary_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Naive</string>
</property>
</item>
<item>
<property name="text">
<string>KdTree OpenCV</string>
</property>
</item>
<item>
<property name="text">
<string>KdForest FLANN</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Nearest neighbor strategy</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_incremental">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Use an incremental dictionary</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_matchThr">
<property name="maximum">
<double>999.990000000000009</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.160000000000000</double>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Minimum distance (for the nearest neighbor)
Lower the distance -> higher the precision</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_nndrUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_nndrRatio">
<property name="maximum">
<double>999.990000000000009</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_78">
<property name="text">
<string>NNDR ratio
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
Lower the ratio -> higher the precision</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Use nearest neighbor distance ratio approach (NNDR)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Use a minimum distance for the nearest neighbor</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_minDistUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_95">
<property name="text">
<string>Maximum number of leafs checked (when using kd-trees)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="surf_spinBox_maxLeafs">
<property name="maximum">
<number>1024</number>
</property>
<property name="value">
<number>64</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLineEdit" name="lineEdit_dictionaryPath"/>
</item>
<item row="2" column="1">
<widget class="QToolButton" name="toolButton_dictionaryPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_51">
<property name="text">
<string>Path to a pre-computed dictionary (when "Use an incremental dictionary" is not set)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_19">
<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>
<widget class="QWidget" name="page_19">
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<widget class="QGroupBox" name="groupBox_vh_strategy">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>1Hypotheses verification strategies</string>
</property>
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,10">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_vh_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No verification</string>
</property>
</item>
2011-06-09 02:56:31 +00:00
<item>
<property name="text">
<string>Similarity</string>
</property>
</item>
2011-06-05 14:45:39 +00:00
<item>
<property name="text">
<string>Epipolar constraints</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_50">
<property name="text">
<string>Hypotheses verification</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<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>
2011-06-09 02:56:31 +00:00
<widget class="QWidget" name="page_15">
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QGroupBox" name="groupBox_vh_similarity">
<property name="title">
<string>2Similarity verification</string>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,10">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="vh_doubleSpinBox_similarity">
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_55">
<property name="text">
<string>Minimum similarity to accept an hypothesis</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>619</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2011-06-05 14:45:39 +00:00
<widget class="QWidget" name="page_21">
<layout class="QVBoxLayout" name="verticalLayout_25">
<item>
<widget class="QGroupBox" name="groupBox_vh_epipolar">
<property name="title">
<string>2Epipolar constraints</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,10">
<item row="0" column="0">
<widget class="QSpinBox" name="surf_spinBox_matchCountMinAccepted">
<property name="minimum">
<number>8</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>11</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_25">
<property name="text">
<string>Minimum match count to accept a loop closure</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam1">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_27">
<property name="text">
<string>Fundamental Matrix : Distance (pixels) for inliers</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam2">
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.990000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_28">
<property name="text">
<string>Fundamental Matrix : Ransac performance</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_local">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>rtabmap::Plot</class>
<extends>QWidget</extends>
<header>Plot.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../GuiLib.qrc"/>
</resources>
<connections>
<connection>
<sender>verticalSlider_prediction_lp</sender>
<signal>valueChanged(int)</signal>
<receiver>label_prediction_lp</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>508</x>
<y>179</y>
</hint>
<hint type="destinationlabel">
<x>509</x>
<y>233</y>
</hint>
</hints>
</connection>
<connection>
<sender>verticalSlider_prediction_vp</sender>
<signal>valueChanged(int)</signal>
<receiver>label_prediction_vp</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>314</x>
<y>185</y>
</hint>
<hint type="destinationlabel">
<x>315</x>
<y>241</y>
</hint>
</hints>
</connection>
</connections>
</ui>
