i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
147bee0e63e13e14435a7f80ca1de3c86b8a42a4
rtabmap/guilib/src/ui/preferencesDialog.ui

2878 lines
107 KiB
Plaintext
Raw Normal View History

moved rtabmap-ros-pkg project in this project git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
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>
<height>792</height>
</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>
</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">
<number>0</number>
</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">
<number>1</number>
</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>
<item row="7" column="0">
<widget class="QLineEdit" name="lineEdit_workingDirectory">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_87">
<property name="text">
<string>Working directory (where the database is saved/loaded)</string>
</property>
</widget>
</item>
<item row="7" column="1">
<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>
</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>
<width>518</width>
<height>147</height>
</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 &quot;Common signature used&quot; 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">
<string>Database auto cleaning,
delete old signatures in the database after run (the ones which will never be reactivated)</string>
</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 -&gt; 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 -&gt; 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 &quot;Use an incremental dictionary&quot; 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>
<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>
<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>
Reference in New Issue Copy Permalink