rtabmap/guilib/src/ui/mainWindow.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>mainWindow</class>
 <widget class="QMainWindow" name="mainWindow">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>1012</width>
    <height>712</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>RTAB-Map : Real-Time Appearance-Based Mapping</string>
  </property>
  <property name="windowIcon">
   <iconset resource="../GuiLib.qrc">
    <normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
  </property>
  <property name="dockOptions">
   <set>QMainWindow::AllowNestedDocks|QMainWindow::AllowTabbedDocks|QMainWindow::AnimatedDocks|QMainWindow::VerticalTabs</set>
  </property>
  <widget class="QWidget" name="widget_mainWindow"/>
  <widget class="QMenuBar" name="menubar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>1012</width>
     <height>21</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuFile">
    <property name="title">
     <string>File</string>
    </property>
    <widget class="QMenu" name="menuExport_poses">
     <property name="title">
      <string>Export poses...</string>
     </property>
     <addaction name="actionRaw_format_txt"/>
     <addaction name="actionRGBD_SLAM_format_txt"/>
     <addaction name="actionKITTI_format_txt"/>
     <addaction name="actionTORO_graph"/>
     <addaction name="actionG2o_g2o"/>
    </widget>
    <addaction name="actionNew_database"/>
    <addaction name="actionOpen_database"/>
    <addaction name="separator"/>
    <addaction name="actionSave_GUI_config"/>
    <addaction name="separator"/>
    <addaction name="actionSave_point_cloud"/>
    <addaction name="actionExport_2D_Grid_map_bmp_png"/>
    <addaction name="actionExport_octomap"/>
    <addaction name="menuExport_poses"/>
    <addaction name="actionExport_images_RGB_jpg_Depth_png"/>
    <addaction name="actionExport_cameras_in_Bundle_format_out"/>
    <addaction name="actionDepth_Calibration"/>
    <addaction name="separator"/>
    <addaction name="actionClose_database"/>
    <addaction name="separator"/>
    <addaction name="actionExit"/>
   </widget>
   <widget class="QMenu" name="menuEdit">
    <property name="title">
     <string> Edit</string>
    </property>
    <widget class="QMenu" name="menuAdvanced">
     <property name="title">
      <string>Advanced</string>
     </property>
     <addaction name="actionOpen_working_directory"/>
     <addaction name="actionDump_the_memory"/>
     <addaction name="actionDump_the_prediction_matrix"/>
     <addaction name="actionGenerate_map"/>
     <addaction name="actionPrint_loop_closure_IDs_to_console"/>
    </widget>
    <addaction name="actionDownload_all_clouds"/>
    <addaction name="actionDownload_graph"/>
    <addaction name="actionUpdate_cache_from_database"/>
    <addaction name="actionAnchor_clouds_to_ground_truth"/>
    <addaction name="actionClear_cache"/>
    <addaction name="separator"/>
    <addaction name="actionView_high_res_point_cloud"/>
    <addaction name="separator"/>
    <addaction name="actionDelete_memory"/>
    <addaction name="separator"/>
    <addaction name="menuAdvanced"/>
   </widget>
   <widget class="QMenu" name="menu6">
    <property name="title">
     <string>?</string>
    </property>
    <addaction name="actionHelp"/>
    <addaction name="separator"/>
    <addaction name="actionAbout"/>
   </widget>
   <widget class="QMenu" name="menuProcess">
    <property name="title">
     <string>Detection</string>
    </property>
    <widget class="QMenu" name="menuSelect_source">
     <property name="title">
      <string>Select source</string>
     </property>
     <widget class="QMenu" name="menuImage">
      <property name="title">
       <string>RGB camera</string>
      </property>
      <property name="icon">
       <iconset resource="../GuiLib.qrc">
        <normaloff>:/images/webcam.png</normaloff>:/images/webcam.png</iconset>
      </property>
      <addaction name="actionUsbCamera"/>
     </widget>
     <widget class="QMenu" name="menuRGB_D_camera">
      <property name="title">
       <string>RGB-D camera</string>
      </property>
      <property name="icon">
       <iconset resource="../GuiLib.qrc">
        <normaloff>:/images/kinect_xbox_360.png</normaloff>:/images/kinect_xbox_360.png</iconset>
      </property>
      <widget class="QMenu" name="menuKinect_for_Xbox_360">
       <property name="title">
        <string>Kinect</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/kinect_xbox_360.png</normaloff>:/images/kinect_xbox_360.png</iconset>
       </property>
       <addaction name="actionFreenect"/>
       <addaction name="actionOpenNI2_kinect"/>
       <addaction name="actionOpenNI_PCL"/>
       <addaction name="actionOpenNI_CV"/>
      </widget>
      <widget class="QMenu" name="menuXtion_PRO_LIVE">
       <property name="title">
        <string>Xtion PRO LIVE</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/xtion_pro_live.png</normaloff>:/images/xtion_pro_live.png</iconset>
       </property>
       <addaction name="actionOpenNI2"/>
       <addaction name="actionOpenNI_PCL_ASUS"/>
       <addaction name="actionOpenNI_CV_ASUS"/>
      </widget>
      <widget class="QMenu" name="menuSense_3D_scanner">
       <property name="title">
        <string>Sense 3D scanner</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/sense.png</normaloff>:/images/sense.png</iconset>
       </property>
       <addaction name="actionOpenNI2_sense"/>
      </widget>
      <widget class="QMenu" name="menuKinect_v2">
       <property name="title">
        <string>Kinect v2</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/kinect_xbox_one.png</normaloff>:/images/kinect_xbox_one.png</iconset>
       </property>
       <addaction name="actionFreenect2"/>
      </widget>
      <widget class="QMenu" name="menuRealSense_R200">
       <property name="title">
        <string>RealSense R200</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/r200.png</normaloff>:/images/r200.png</iconset>
       </property>
       <addaction name="actionRealSense_R200"/>
      </widget>
      <widget class="QMenu" name="menuRealSense_ZR300">
       <property name="title">
        <string>RealSense ZR300</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/zr300.png</normaloff>:/images/zr300.png</iconset>
       </property>
       <addaction name="actionRealSense_ZR300"/>
      </widget>
      <addaction name="menuKinect_for_Xbox_360"/>
      <addaction name="menuXtion_PRO_LIVE"/>
      <addaction name="menuSense_3D_scanner"/>
      <addaction name="menuKinect_v2"/>
      <addaction name="menuRealSense_R200"/>
      <addaction name="menuRealSense_ZR300"/>
     </widget>
     <widget class="QMenu" name="menuStereo_camera">
      <property name="title">
       <string>Stereo camera</string>
      </property>
      <property name="icon">
       <iconset resource="../GuiLib.qrc">
        <normaloff>:/images/bumblebee2.png</normaloff>:/images/bumblebee2.png</iconset>
      </property>
      <widget class="QMenu" name="menuBumblebee2_2">
       <property name="title">
        <string>Bumblebee2</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/bumblebee2.png</normaloff>:/images/bumblebee2.png</iconset>
       </property>
       <addaction name="actionStereoDC1394"/>
       <addaction name="actionStereoFlyCapture2"/>
      </widget>
      <widget class="QMenu" name="menuZed_camera">
       <property name="title">
        <string>Zed camera</string>
       </property>
       <property name="icon">
        <iconset resource="../GuiLib.qrc">
         <normaloff>:/images/zed.png</normaloff>:/images/zed.png</iconset>
       </property>
       <addaction name="actionStereoZed"/>
       <addaction name="actionStereoUsb"/>
      </widget>
      <addaction name="menuBumblebee2_2"/>
      <addaction name="menuZed_camera"/>
     </widget>
     <addaction name="menuRGB_D_camera"/>
     <addaction name="menuStereo_camera"/>
     <addaction name="menuImage"/>
     <addaction name="actionMore_options"/>
    </widget>
    <addaction name="menuSelect_source"/>
    <addaction name="separator"/>
    <addaction name="actionStart"/>
    <addaction name="actionPause"/>
    <addaction name="actionStop"/>
    <addaction name="separator"/>
    <addaction name="actionPause_on_match"/>
    <addaction name="actionPause_when_a_loop_hypothesis_is_rejected"/>
    <addaction name="actionPause_on_local_loop_detection"/>
    <addaction name="separator"/>
    <addaction name="actionSLAM_mode"/>
    <addaction name="actionLocalization_mode"/>
    <addaction name="separator"/>
    <addaction name="actionReset_Odometry"/>
    <addaction name="actionTrigger_a_new_map"/>
    <addaction name="separator"/>
    <addaction name="actionLabel_current_location"/>
    <addaction name="actionSend_waypoints"/>
    <addaction name="actionSend_goal"/>
    <addaction name="actionCancel_goal"/>
   </widget>
   <widget class="QMenu" name="menuWindow">
    <property name="title">
     <string>Window</string>
    </property>
    <widget class="QMenu" name="menuShow_view">
     <property name="title">
      <string>Show view</string>
     </property>
     <addaction name="separator"/>
    </widget>
    <widget class="QMenu" name="menuAspect_ratio_2">
     <property name="title">
      <string>Aspect ratio</string>
     </property>
     <addaction name="action16_9"/>
     <addaction name="action16_10"/>
     <addaction name="action4_3"/>
     <addaction name="separator"/>
     <addaction name="action1080p"/>
     <addaction name="action720p"/>
     <addaction name="action480p"/>
     <addaction name="action360p"/>
     <addaction name="action240p"/>
     <addaction name="separator"/>
     <addaction name="actionCustom"/>
    </widget>
    <addaction name="menuShow_view"/>
    <addaction name="actionDefault_views"/>
    <addaction name="actionScreenshot"/>
    <addaction name="actionAuto_screen_capture"/>
    <addaction name="menuAspect_ratio_2"/>
    <addaction name="separator"/>
    <addaction name="actionPreferences"/>
   </widget>
   <widget class="QMenu" name="menuTools">
    <property name="title">
     <string>Tools</string>
    </property>
    <addaction name="actionEdit_database"/>
    <addaction name="separator"/>
    <addaction name="actionData_recorder"/>
    <addaction name="separator"/>
    <addaction name="actionPost_processing"/>
   </widget>
   <addaction name="menuFile"/>
   <addaction name="menuEdit"/>
   <addaction name="menuProcess"/>
   <addaction name="menuTools"/>
   <addaction name="menuWindow"/>
   <addaction name="menu6"/>
  </widget>
  <widget class="QStatusBar" name="statusbar"/>
  <widget class="QDockWidget" name="dockWidget_posterior">
   <property name="features">
    <set>QDockWidget::AllDockWidgetFeatures</set>
   </property>
   <property name="windowTitle">
    <string>A posteriori PDF</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents">
    <layout class="QHBoxLayout" name="horizontalLayout">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="UPlot" name="posteriorPlot" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QToolBar" name="toolBar">
   <property name="windowTitle">
    <string>toolBar</string>
   </property>
   <attribute name="toolBarArea">
    <enum>TopToolBarArea</enum>
   </attribute>
   <attribute name="toolBarBreak">
    <bool>false</bool>
   </attribute>
   <addaction name="actionClose_database"/>
   <addaction name="actionNew_database"/>
   <addaction name="actionOpen_database"/>
  </widget>
  <widget class="QDockWidget" name="dockWidget_statsV2">
   <property name="floating">
    <bool>true</bool>
   </property>
   <property name="windowTitle">
    <string>Statistics</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_3">
    <layout class="QVBoxLayout" name="verticalLayout_8">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <layout class="QGridLayout" name="gridLayout" columnstretch="10,0">
       <property name="sizeConstraint">
        <enum>QLayout::SetMinimumSize</enum>
       </property>
       <property name="verticalSpacing">
        <number>2</number>
       </property>
       <item row="3" column="1">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_stats_timeLimit">
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
         <property name="suffix">
          <string> ms</string>
         </property>
         <property name="decimals">
          <number>0</number>
         </property>
         <property name="maximum">
          <double>99999.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>50.000000000000000</double>
         </property>
         <property name="value">
          <double>450.000000000000000</double>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QLabel" name="label_source">
         <property name="text">
          <string>Source</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_stats_source">
         <property name="text">
          <string>Unknown</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_stats_imgRate">
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
         <property name="suffix">
          <string> Hz</string>
         </property>
         <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>2.000000000000000</double>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QLabel" name="label_45">
         <property name="text">
          <string>Elapsed time (hh:mm:ss)</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_elapsedTime">
         <property name="text">
          <string>Unknown</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
       <item row="5" column="0">
        <widget class="QLabel" name="label_20">
         <property name="text">
          <string>Current image id [Map id]</string>
         </property>
        </widget>
       </item>
       <item row="5" column="1">
        <widget class="QLabel" name="label_stats_imageNumber">
         <property name="text">
          <string>Unknown</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
       <item row="6" column="0">
        <widget class="QLabel" name="label_12">
         <property name="text">
          <string>Loop closures detected</string>
         </property>
        </widget>
       </item>
       <item row="6" column="1">
        <widget class="QLabel" name="label_stats_loopClosuresDetected">
         <property name="text">
          <string>0</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
       <item row="7" column="0">
        <widget class="QLabel" name="label_38">
         <property name="text">
          <string>Loop closures detected 
(only reactivated ones)</string>
         </property>
        </widget>
       </item>
       <item row="7" column="1">
        <widget class="QLabel" name="label_stats_loopClosuresReactivatedDetected">
         <property name="text">
          <string>0</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
       <item row="8" column="0">
        <widget class="QLabel" name="label_15">
         <property name="text">
          <string>Loop closures rejected</string>
         </property>
        </widget>
       </item>
       <item row="8" column="1">
        <widget class="QLabel" name="label_stats_loopClosuresRejected">
         <property name="text">
          <string>0</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QLabel" name="doubleSpinBox_stats_imgRate_label">
         <property name="text">
          <string>Image rate</string>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_timeLimit">
         <property name="text">
          <string>Time limit processing</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_stats_detectionRate">
         <property name="alignment">
          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
         <property name="suffix">
          <string> Hz</string>
         </property>
         <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>2.000000000000000</double>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="doubleSpinBox_stats_imgRate_label_2">
         <property name="text">
          <string>RTAB-Map update rate</string>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <widget class="rtabmap::StatsToolBox" name="statsToolBox" native="true"/>
     </item>
     <item>
      <spacer name="verticalSpacer_2">
       <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>
  <widget class="QDockWidget" name="dockWidget_likelihood">
   <property name="floating">
    <bool>false</bool>
   </property>
   <property name="windowTitle">
    <string>Likelihood</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_4">
    <layout class="QVBoxLayout" name="verticalLayout_6">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="UPlot" name="likelihoodPlot" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_console">
   <property name="windowTitle">
    <string>Console</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_2">
    <layout class="QVBoxLayout" name="verticalLayout_5">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="rtabmap::ConsoleWidget" name="widget_console" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_rawlikelihood">
   <property name="windowTitle">
    <string>Raw Likelihood</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_6">
    <layout class="QVBoxLayout" name="verticalLayout_4">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="UPlot" name="rawLikelihoodPlot" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_cloudViewer">
   <property name="windowTitle">
    <string>3D Map</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="layout_cloudViewer">
    <layout class="QVBoxLayout" name="verticalLayout_3">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_loopClosureViewer">
   <property name="windowTitle">
    <string>3D Loop closure</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="layout_loopClosureViewer">
    <layout class="QVBoxLayout" name="verticalLayout_7">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_mapVisibility">
   <property name="floating">
    <bool>true</bool>
   </property>
   <property name="windowTitle">
    <string>Map visibility</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_8">
    <layout class="QVBoxLayout" name="verticalLayout_9">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="rtabmap::MapVisibilityWidget" name="widget_mapVisibility" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_graphViewer">
   <property name="windowTitle">
    <string>Graph view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_9">
    <layout class="QVBoxLayout" name="verticalLayout_10">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="rtabmap::GraphViewer" name="graphicsView_graphView"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_imageView">
   <property name="allowedAreas">
    <set>Qt::AllDockWidgetAreas</set>
   </property>
   <property name="windowTitle">
    <string>Loop closure detection</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="layout_imageview">
    <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,1">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,1">
       <property name="spacing">
        <number>0</number>
       </property>
       <item>
        <widget class="QLabel" name="label_refId">
         <property name="minimumSize">
          <size>
           <width>0</width>
           <height>18</height>
          </size>
         </property>
         <property name="text">
          <string/>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item>
        <widget class="rtabmap::ImageView" name="imageView_source" native="true"/>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1">
       <property name="spacing">
        <number>0</number>
       </property>
       <item>
        <widget class="QLabel" name="label_matchId">
         <property name="minimumSize">
          <size>
           <width>0</width>
           <height>18</height>
          </size>
         </property>
         <property name="text">
          <string/>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item>
        <widget class="rtabmap::ImageView" name="imageView_loopClosure" native="true"/>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_odometry">
   <property name="windowTitle">
    <string>Odometry</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_10">
    <layout class="QVBoxLayout" name="verticalLayout_11">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <widget class="rtabmap::ImageView" name="imageView_odometry" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QToolBar" name="toolBar_2">
   <property name="windowTitle">
    <string>toolBar_2</string>
   </property>
   <attribute name="toolBarArea">
    <enum>TopToolBarArea</enum>
   </attribute>
   <attribute name="toolBarBreak">
    <bool>false</bool>
   </attribute>
   <addaction name="actionDownload_all_clouds"/>
   <addaction name="actionStart"/>
   <addaction name="actionPause"/>
   <addaction name="actionStop"/>
  </widget>
  <action name="actionExit">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/system-log-out.png</normaloff>:/images/system-log-out.png</iconset>
   </property>
   <property name="text">
    <string>Exit</string>
   </property>
  </action>
  <action name="actionHelp">
   <property name="enabled">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Help</string>
   </property>
  </action>
  <action name="actionAbout">
   <property name="text">
    <string>About...</string>
   </property>
  </action>
  <action name="actionPreferences">
   <property name="text">
    <string>Preferences...</string>
   </property>
  </action>
  <action name="actionStart">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/Play1Normal.png</normaloff>:/images/Play1Normal.png</iconset>
   </property>
   <property name="text">
    <string>Start</string>
   </property>
  </action>
  <action name="actionPause">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/PauseNormalRed.png</normaloff>:/images/PauseNormalRed.png</iconset>
   </property>
   <property name="text">
    <string>Pause</string>
   </property>
   <property name="toolTip">
    <string>Pause</string>
   </property>
  </action>
  <action name="actionPause_on_match">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/PauseOnLoop.ico</normaloff>:/images/PauseOnLoop.ico</iconset>
   </property>
   <property name="text">
    <string>Pause on loop closure detection</string>
   </property>
  </action>
  <action name="actionStop">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/Stop1NormalYellow.png</normaloff>:/images/Stop1NormalYellow.png</iconset>
   </property>
   <property name="text">
    <string>Stop</string>
   </property>
  </action>
  <action name="actionDump_the_memory">
   <property name="text">
    <string>Dump the memory</string>
   </property>
  </action>
  <action name="actionPause_when_a_loop_hypothesis_is_rejected">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/PauseLoopRejected.ico</normaloff>:/images/PauseLoopRejected.ico</iconset>
   </property>
   <property name="text">
    <string>Pause on loop closure rejection</string>
   </property>
  </action>
  <action name="actionClear_cache">
   <property name="text">
    <string>Clear the cache</string>
   </property>
  </action>
  <action name="actionAuto_screen_capture">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Auto screen capture...</string>
   </property>
  </action>
  <action name="actionDump_the_prediction_matrix">
   <property name="text">
    <string>Dump the prediction matrix</string>
   </property>
  </action>
  <action name="actionGenerate_map">
   <property name="text">
    <string>Generate graph (*.dot)...</string>
   </property>
  </action>
  <action name="actionDelete_memory">
   <property name="text">
    <string>Delete memory</string>
   </property>
  </action>
  <action name="actionOpen_working_directory">
   <property name="text">
    <string>Show working directory in file browser</string>
   </property>
  </action>
  <action name="action16_9">
   <property name="text">
    <string>16:9</string>
   </property>
  </action>
  <action name="action16_10">
   <property name="text">
    <string>16:10</string>
   </property>
  </action>
  <action name="action4_3">
   <property name="text">
    <string>4:3</string>
   </property>
  </action>
  <action name="action360p">
   <property name="text">
    <string>360p</string>
   </property>
  </action>
  <action name="action480p">
   <property name="text">
    <string>480p</string>
   </property>
  </action>
  <action name="action720p">
   <property name="text">
    <string>720p</string>
   </property>
  </action>
  <action name="action1080p">
   <property name="text">
    <string>1080p</string>
   </property>
  </action>
  <action name="action240p">
   <property name="text">
    <string>240p</string>
   </property>
  </action>
  <action name="actionUsbCamera">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/webcam.png</normaloff>:/images/webcam.png</iconset>
   </property>
   <property name="text">
    <string>Usb camera</string>
   </property>
  </action>
  <action name="actionPrint_loop_closure_IDs_to_console">
   <property name="text">
    <string>Print loop closure IDs to console</string>
   </property>
  </action>
  <action name="actionSave_point_cloud">
   <property name="text">
    <string>Export 3D clouds (*.ply *.pcd *.obj)...</string>
   </property>
  </action>
  <action name="actionDownload_all_clouds">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/view-refresh.png</normaloff>:/images/view-refresh.png</iconset>
   </property>
   <property name="text">
    <string>Download all clouds (update cache)</string>
   </property>
  </action>
  <action name="actionPause_on_local_loop_detection">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/PauseOnLocalLoop.ico</normaloff>:/images/PauseOnLocalLoop.ico</iconset>
   </property>
   <property name="text">
    <string>Pause on local loop closure detection</string>
   </property>
  </action>
  <action name="actionSLAM_mode">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Mapping</string>
   </property>
   <property name="toolTip">
    <string>Simultaneous Localization And Mapping (SLAM)</string>
   </property>
  </action>
  <action name="actionLocalization_mode">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Localization</string>
   </property>
  </action>
  <action name="actionReset_Odometry">
   <property name="text">
    <string>Reset Odometry</string>
   </property>
  </action>
  <action name="actionView_high_res_point_cloud">
   <property name="text">
    <string>View point clouds...</string>
   </property>
  </action>
  <action name="actionTrigger_a_new_map">
   <property name="text">
    <string>Trigger a new map</string>
   </property>
  </action>
  <action name="actionDownload_graph">
   <property name="text">
    <string>Download graph only</string>
   </property>
  </action>
  <action name="actionScreenshot">
   <property name="text">
    <string>Take a screenshot</string>
   </property>
  </action>
  <action name="actionOpenNI_PCL">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI-PCL</string>
   </property>
  </action>
  <action name="actionFreenect">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Freenect</string>
   </property>
  </action>
  <action name="actionOpenNI_CV">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI-CV</string>
   </property>
  </action>
  <action name="actionOpenNI_CV_ASUS">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI-CV-ASUS</string>
   </property>
  </action>
  <action name="actionOpenNI2">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI2</string>
   </property>
  </action>
  <action name="actionOpenNI_PCL_ASUS">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI-PCL</string>
   </property>
  </action>
  <action name="actionData_recorder">
   <property name="text">
    <string>Data recorder...</string>
   </property>
  </action>
  <action name="actionExport_2D_Grid_map_bmp_png">
   <property name="text">
    <string>Export 2D grid map (*.png *.bmp)...</string>
   </property>
  </action>
  <action name="actionOpen_database">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/document-open.png</normaloff>:/images/document-open.png</iconset>
   </property>
   <property name="text">
    <string>Open database...</string>
   </property>
  </action>
  <action name="actionNew_database">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/document-new.png</normaloff>:/images/document-new.png</iconset>
   </property>
   <property name="text">
    <string>New database...</string>
   </property>
  </action>
  <action name="actionClose_database">
   <property name="icon">
    <iconset resource="../GuiLib.qrc">
     <normaloff>:/images/document-save.png</normaloff>:/images/document-save.png</iconset>
   </property>
   <property name="text">
    <string>Close database</string>
   </property>
  </action>
  <action name="actionEdit_database">
   <property name="text">
    <string>Edit database...</string>
   </property>
  </action>
  <action name="actionPost_processing">
   <property name="text">
    <string>Post-processing...</string>
   </property>
  </action>
  <action name="actionSave_GUI_config">
   <property name="text">
    <string>Save config</string>
   </property>
  </action>
  <action name="actionFreenect2">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Freenect2</string>
   </property>
  </action>
  <action name="actionStereoDC1394">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>StereoDC1394</string>
   </property>
  </action>
  <action name="actionOpenNI2_kinect">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI2</string>
   </property>
  </action>
  <action name="actionOpenNI2_sense">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>OpenNI2</string>
   </property>
  </action>
  <action name="actionStereoFlyCapture2">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>FlyCapture2</string>
   </property>
  </action>
  <action name="actionSend_goal">
   <property name="text">
    <string>Send a goal...</string>
   </property>
  </action>
  <action name="actionCancel_goal">
   <property name="text">
    <string>Cancel goal</string>
   </property>
  </action>
  <action name="actionDefault_views">
   <property name="text">
    <string>Default views</string>
   </property>
  </action>
  <action name="actionMore_options">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>More Options...</string>
   </property>
  </action>
  <action name="actionLabel_current_location">
   <property name="text">
    <string>Label current location...</string>
   </property>
  </action>
  <action name="actionKITTI_format_txt">
   <property name="text">
    <string>KITTI format (*.txt)</string>
   </property>
  </action>
  <action name="actionRGBD_SLAM_format_txt">
   <property name="text">
    <string>RGBD-SLAM format (*.txt)</string>
   </property>
  </action>
  <action name="actionTORO_graph">
   <property name="text">
    <string>TORO (*.graph)</string>
   </property>
  </action>
  <action name="actionExport_cameras_in_Bundle_format_out">
   <property name="text">
    <string>Export cameras in Bundler format (*.out)...</string>
   </property>
  </action>
  <action name="actionRaw_format_txt">
   <property name="text">
    <string>Raw format (*.txt)</string>
   </property>
  </action>
  <action name="actionG2o_g2o">
   <property name="text">
    <string>g2o (*.g2o)</string>
   </property>
  </action>
  <action name="actionCustom">
   <property name="text">
    <string>Custom...</string>
   </property>
  </action>
  <action name="actionSend_waypoints">
   <property name="text">
    <string>Send waypoints...</string>
   </property>
  </action>
  <action name="actionUpdate_cache_from_database">
   <property name="text">
    <string>Update cache from a local database copy...</string>
   </property>
  </action>
  <action name="actionExport_images_RGB_jpg_Depth_png">
   <property name="text">
    <string>Export images (RGB=*.jpg Depth=*.png)...</string>
   </property>
  </action>
  <action name="actionAnchor_clouds_to_ground_truth">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Anchor clouds to ground truth</string>
   </property>
  </action>
  <action name="actionStereoZed">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Zed sdk</string>
   </property>
  </action>
  <action name="actionStereoUsb">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Stereo Usb Camera</string>
   </property>
  </action>
  <action name="actionExport_octomap">
   <property name="text">
    <string>Export octomap...</string>
   </property>
  </action>
  <action name="actionRealSense_R200">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>RealSense</string>
   </property>
  </action>
  <action name="actionDepth_Calibration">
   <property name="text">
    <string>Depth calibration...</string>
   </property>
  </action>
  <action name="actionRealSense_ZR300">
   <property name="checkable">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>RealSense</string>
   </property>
  </action>
 </widget>
 <customwidgets>
  <customwidget>
   <class>UPlot</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/utilite/UPlot.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::ImageView</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/ImageView.h</header>
  </customwidget>
  <customwidget>
   <class>rtabmap::StatsToolBox</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/StatsToolBox.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::ConsoleWidget</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/ConsoleWidget.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::MapVisibilityWidget</class>
   <extends>QWidget</extends>
   <header>../include/rtabmap/gui/MapVisibilityWidget.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::GraphViewer</class>
   <extends>QGraphicsView</extends>
   <header>../include/rtabmap/gui/GraphViewer.h</header>
  </customwidget>
 </customwidgets>
 <resources>
  <include location="../GuiLib.qrc"/>
 </resources>
 <connections/>
</ui>