rtabmap/guilib/src/ui/DatabaseViewer.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>DatabaseViewer</class>
 <widget class="QMainWindow" name="DatabaseViewer">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>1182</width>
    <height>804</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Database viewer</string>
  </property>
  <widget class="QWidget" name="centralwidget">
   <layout class="QVBoxLayout" name="verticalLayout_7" stretch="2">
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_3">
      <property name="rightMargin">
       <number>0</number>
      </property>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,0,0">
        <property name="spacing">
         <number>0</number>
        </property>
        <item>
         <widget class="rtabmap::ImageView" name="graphicsView_A"/>
        </item>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
          <property name="horizontalScrollBarPolicy">
           <enum>Qt::ScrollBarAsNeeded</enum>
          </property>
          <property name="widgetResizable">
           <bool>true</bool>
          </property>
          <widget class="QWidget" name="scrollAreaWidgetContents_2">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>136</width>
             <height>127</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
            <item row="0" column="0">
             <widget class="QLabel" name="label_parentsA_2">
              <property name="text">
               <string>Parents</string>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_parentsA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_childrenA_2">
              <property name="text">
               <string>Children</string>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_childrenA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QLabel" name="label_childrenA_4">
              <property name="text">
               <string>Label</string>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_labelA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QLabel" name="label_childrenA_6">
              <property name="text">
               <string>Stamp</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_stampA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QLabel" name="label_childrenA_8">
              <property name="text">
               <string>Weight</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_weightA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
          <property name="margin">
           <number>12</number>
          </property>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout_4">
            <item>
             <widget class="QLabel" name="label_2">
              <property name="text">
               <string>Index :</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_3">
              <property name="text">
               <string>Id :</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout_3">
            <item>
             <widget class="QLabel" name="label_indexA">
              <property name="text">
               <string>indexA</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_idA">
              <property name="text">
               <string>idA</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QSlider" name="horizontalSlider_A">
            <property name="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
            <property name="tickPosition">
             <enum>QSlider::TicksAbove</enum>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </item>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0,0">
        <property name="spacing">
         <number>0</number>
        </property>
        <item>
         <widget class="rtabmap::ImageView" name="graphicsView_B"/>
        </item>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="horizontalScrollBarPolicy">
           <enum>Qt::ScrollBarAsNeeded</enum>
          </property>
          <property name="widgetResizable">
           <bool>true</bool>
          </property>
          <widget class="QWidget" name="scrollAreaWidgetContents">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>137</width>
             <height>127</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
            <item row="0" column="1">
             <widget class="QLabel" name="label_parentsB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QLabel" name="label_parentsA_4">
              <property name="text">
               <string>Parents</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_childrenA_3">
              <property name="text">
               <string>Children</string>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_childrenB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QLabel" name="label_childrenA_5">
              <property name="text">
               <string>Label</string>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_labelB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QLabel" name="label_childrenA_7">
              <property name="text">
               <string>Stamp</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_stampB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QLabel" name="label_childrenA_9">
              <property name="text">
               <string>Weight</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_weightB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_2">
          <property name="margin">
           <number>12</number>
          </property>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout">
            <item>
             <widget class="QLabel" name="label_5">
              <property name="text">
               <string>Index :</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_4">
              <property name="text">
               <string>Id :</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout_2">
            <item>
             <widget class="QLabel" name="label_indexB">
              <property name="text">
               <string>indexB</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_idB">
              <property name="text">
               <string>idB</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QSlider" name="horizontalSlider_B">
            <property name="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
            <property name="tickPosition">
             <enum>QSlider::TicksAbove</enum>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menubar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>1182</width>
     <height>25</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuFile">
    <property name="title">
     <string>File</string>
    </property>
    <addaction name="actionOpen_database"/>
    <addaction name="separator"/>
    <addaction name="actionSave_config"/>
    <addaction name="separator"/>
    <addaction name="actionExport"/>
    <addaction name="actionExtract_images"/>
    <addaction name="separator"/>
    <addaction name="actionQuit"/>
   </widget>
   <widget class="QMenu" name="menuEdit">
    <property name="title">
     <string>Edit</string>
    </property>
    <addaction name="actionGenerate_graph_dot"/>
    <addaction name="actionGenerate_local_graph_dot"/>
    <addaction name="actionGenerate_TORO_graph_graph"/>
    <addaction name="separator"/>
    <addaction name="actionDetect_more_loop_closures"/>
    <addaction name="actionVisual_Refine_all_neighbor_links"/>
    <addaction name="actionRefine_all_neighbor_links"/>
    <addaction name="actionVisual_Refine_all_loop_closure_links"/>
    <addaction name="actionRefine_all_loop_closure_links"/>
    <addaction name="separator"/>
    <addaction name="actionView_3D_map"/>
    <addaction name="actionGenerate_3D_map_pcd"/>
   </widget>
   <widget class="QMenu" name="menuView">
    <property name="title">
     <string>View</string>
    </property>
   </widget>
   <addaction name="menuFile"/>
   <addaction name="menuEdit"/>
   <addaction name="menuView"/>
  </widget>
  <widget class="QDockWidget" name="dockWidget_constraints">
   <property name="windowTitle">
    <string>Constraints view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents">
    <layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0">
     <item>
      <widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
     </item>
     <item>
      <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
       <item row="0" column="0">
        <widget class="QLabel" name="label">
         <property name="text">
          <string>Neighbor links</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QSlider" name="horizontalSlider_neighbors">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QLabel" name="label_6">
         <property name="text">
          <string>Loop closure links</string>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QSlider" name="horizontalSlider_loops">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="label_33">
         <property name="text">
          <string>Type</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_type">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_16">
         <property name="text">
          <string>Transform</string>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_constraint">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QLabel" name="label_18">
         <property name="text">
          <string>σ (rot, trans)</string>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_variance">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="5" column="0">
        <widget class="QCheckBox" name="checkBox_showOptimized">
         <property name="text">
          <string>Optimized</string>
         </property>
        </widget>
       </item>
       <item row="5" column="1">
        <widget class="QLabel" name="label_constraint_opt">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="6" column="0">
        <widget class="QLabel" name="label_32">
         <property name="text">
          <string>Show 3D words</string>
         </property>
        </widget>
       </item>
       <item row="6" column="1">
        <widget class="QCheckBox" name="checkBox_show3DWords">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_5">
       <item>
        <widget class="QPushButton" name="pushButton_refineVisually">
         <property name="text">
          <string>Refine (Visual)</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_refine">
         <property name="text">
          <string>Refine (ICP)</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_reset">
         <property name="text">
          <string>Reset</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_add">
         <property name="text">
          <string>Add</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_reject">
         <property name="text">
          <string>Reject</string>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_graphView">
   <property name="windowTitle">
    <string>Graph view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_2">
    <layout class="QVBoxLayout" name="verticalLayout_9">
     <item>
      <widget class="rtabmap::GraphViewer" name="graphViewer"/>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_4">
       <item>
        <widget class="QLabel" name="label_iterations">
         <property name="text">
          <string>#</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QSlider" name="horizontalSlider_iterations">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
       <item row="2" column="1">
        <widget class="QLabel" name="label_10">
         <property name="text">
          <string>Total path length (m)</string>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_optimizeFrom">
         <property name="text">
          <string>Optimize from</string>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="label_pathLength">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_39">
         <property name="text">
          <string>Time optimization (s)</string>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_timeOptimization">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_45">
         <property name="text">
          <string>Time grid (s)</string>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QLabel" name="label_timeGrid">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_icp">
   <property name="floating">
    <bool>true</bool>
   </property>
   <property name="windowTitle">
    <string>ICP parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_3">
    <layout class="QVBoxLayout" name="verticalLayout_10">
     <item>
      <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
       <item row="4" column="1">
        <widget class="QLabel" name="label_15">
         <property name="text">
          <string>Iteration</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_14">
         <property name="text">
          <string>Decimation</string>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QLabel" name="label_17">
         <property name="text">
          <string>Max depth</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_13">
         <property name="text">
          <string>Voxel</string>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_12">
         <property name="text">
          <string>Max correspondence distance</string>
         </property>
        </widget>
       </item>
       <item row="5" column="1">
        <widget class="QLabel" name="label_11">
         <property name="text">
          <string>Point to plane</string>
         </property>
        </widget>
       </item>
       <item row="6" column="1">
        <widget class="QLabel" name="label_20">
         <property name="text">
          <string>Normal K neighbors</string>
         </property>
        </widget>
       </item>
       <item row="7" column="1">
        <widget class="QLabel" name="label_27">
         <property name="text">
          <string>2D icp (laser scans required)</string>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QSpinBox" name="spinBox_icp_decimation">
         <property name="minimum">
          <number>1</number>
         </property>
         <property name="maximum">
          <number>16</number>
         </property>
         <property name="value">
          <number>8</number>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>2</number>
         </property>
         <property name="maximum">
          <double>100.000000000000000</double>
         </property>
         <property name="value">
          <double>2.000000000000000</double>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_voxel">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>3</number>
         </property>
         <property name="maximum">
          <double>1.000000000000000</double>
         </property>
         <property name="value">
          <double>0.010000000000000</double>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxCorrespDistance">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>3</number>
         </property>
         <property name="minimum">
          <double>0.001000000000000</double>
         </property>
         <property name="maximum">
          <double>1.000000000000000</double>
         </property>
         <property name="value">
          <double>0.050000000000000</double>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QSpinBox" name="spinBox_icp_iteration">
         <property name="minimum">
          <number>1</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>30</number>
         </property>
        </widget>
       </item>
       <item row="6" column="0">
        <widget class="QSpinBox" name="spinBox_icp_normalKSearch">
         <property name="minimum">
          <number>1</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>20</number>
         </property>
        </widget>
       </item>
       <item row="5" column="0">
        <widget class="QCheckBox" name="checkBox_icp_p2plane">
         <property name="text">
          <string/>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item row="7" column="0">
        <widget class="QCheckBox" name="checkBox_icp_2d">
         <property name="text">
          <string/>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <spacer name="verticalSpacer_2">
       <property name="orientation">
        <enum>Qt::Vertical</enum>
       </property>
       <property name="sizeHint" stdset="0">
        <size>
         <width>20</width>
         <height>31</height>
        </size>
       </property>
      </spacer>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_visual">
   <property name="floating">
    <bool>true</bool>
   </property>
   <property name="windowTitle">
    <string>Visual parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_4">
    <layout class="QVBoxLayout" name="verticalLayout_11">
     <item>
      <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0">
       <item row="4" column="0">
        <widget class="QSpinBox" name="spinBox_visual_iteration">
         <property name="minimum">
          <number>1</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>30</number>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QCheckBox" name="checkBox_visual_2d">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="5" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>2</number>
         </property>
         <property name="maximum">
          <double>100.000000000000000</double>
         </property>
         <property name="value">
          <double>4.000000000000000</double>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QLabel" name="label_26">
         <property name="text">
          <string>NNDR</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_21">
         <property name="text">
          <string>Min correspondences</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_28">
         <property name="text">
          <string>2D transform (x,y,yaw)</string>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxCorrespDistance">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>3</number>
         </property>
         <property name="minimum">
          <double>0.001000000000000</double>
         </property>
         <property name="maximum">
          <double>1.000000000000000</double>
         </property>
         <property name="value">
          <double>0.020000000000000</double>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>1</number>
         </property>
         <property name="minimum">
          <double>0.100000000000000</double>
         </property>
         <property name="maximum">
          <double>1.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.100000000000000</double>
         </property>
         <property name="value">
          <double>0.900000000000000</double>
         </property>
        </widget>
       </item>
       <item row="5" column="1">
        <widget class="QLabel" name="label_19">
         <property name="text">
          <string>Max feature depth</string>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QSpinBox" name="spinBox_visual_minCorrespondences">
         <property name="minimum">
          <number>3</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>10</number>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_22">
         <property name="text">
          <string>Max correspondence distance</string>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_23">
         <property name="text">
          <string>Iteration</string>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <widget class="QGroupBox" name="groupBox_visual_recomputeFeatures">
       <property name="title">
        <string>Re-extract features</string>
       </property>
       <property name="checkable">
        <bool>true</bool>
       </property>
       <layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
        <item row="0" column="1">
         <widget class="QLabel" name="label_24">
          <property name="text">
           <string>Feature type</string>
          </property>
         </widget>
        </item>
        <item row="0" column="0">
         <widget class="QComboBox" name="comboBox_featureType">
          <property name="currentIndex">
           <number>4</number>
          </property>
          <item>
           <property name="text">
            <string>SURF</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>SIFT</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>ORB</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>FAST+FREAK</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>FAST+BRIEF</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>GFTT+FREAK</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>GFTT+BRIEF</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>BRISK</string>
           </property>
          </item>
         </widget>
        </item>
        <item row="1" column="1">
         <widget class="QLabel" name="label_25">
          <property name="text">
           <string>Nearest neighbor type</string>
          </property>
         </widget>
        </item>
        <item row="1" column="0">
         <widget class="QComboBox" name="comboBox_nnType">
          <property name="currentIndex">
           <number>3</number>
          </property>
          <item>
           <property name="text">
            <string>FLANN Naive</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>FLANN Kd-Tree</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>FLANN LSH</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>Brute force</string>
           </property>
          </item>
          <item>
           <property name="text">
            <string>Brute force GPU</string>
           </property>
          </item>
         </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>
  <widget class="QDockWidget" name="dockWidget_stereoView">
   <property name="windowTitle">
    <string>Stereo view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_5">
    <layout class="QHBoxLayout" name="horizontalLayout_6">
     <item>
      <widget class="rtabmap::ImageView" name="graphicsView_stereo"/>
     </item>
     <item>
      <widget class="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_view3d">
   <property name="windowTitle">
    <string>3D view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_6">
    <layout class="QHBoxLayout" name="horizontalLayout_8">
     <item>
      <widget class="rtabmap::CloudViewer" name="widget_cloudA" native="true"/>
     </item>
     <item>
      <widget class="rtabmap::CloudViewer" name="widget_cloudB" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_graphOptimizer">
   <property name="windowTitle">
    <string>Graph optimization parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_7">
    <layout class="QVBoxLayout" name="verticalLayout_12">
     <item>
      <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
       <item row="1" column="1">
        <widget class="QLabel" name="label_7">
         <property name="text">
          <string>Iterations</string>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QComboBox" name="comboBox_graphOptimizer">
         <item>
          <property name="text">
           <string>TORO</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>g2o</string>
          </property>
         </item>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QSpinBox" name="spinBox_iterations">
         <property name="suffix">
          <string/>
         </property>
         <property name="minimum">
          <number>1</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>100</number>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_41">
         <property name="text">
          <string>2d SLAM</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_40">
         <property name="text">
          <string>Strategy</string>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_34">
         <property name="text">
          <string>Ignore covariance</string>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QCheckBox" name="checkBox_ignoreCovariance">
         <property name="text">
          <string/>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QCheckBox" name="checkBox_2dslam">
         <property name="text">
          <string/>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_8">
         <property name="text">
          <string>Depth (0=inf)</string>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QSpinBox" name="spinBox_optimizationDepth">
         <property name="suffix">
          <string/>
         </property>
         <property name="minimum">
          <number>0</number>
         </property>
         <property name="maximum">
          <number>1000</number>
         </property>
         <property name="value">
          <number>0</number>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <spacer name="verticalSpacer_4">
       <property name="orientation">
        <enum>Qt::Vertical</enum>
       </property>
       <property name="sizeHint" stdset="0">
        <size>
         <width>20</width>
         <height>144</height>
        </size>
       </property>
      </spacer>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_gridcloud">
   <property name="windowTitle">
    <string>Grid/Cloud parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>8</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_8">
    <layout class="QVBoxLayout" name="verticalLayout_13">
     <item>
      <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
       <item row="0" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_gridCellSize">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="minimum">
          <double>0.010000000000000</double>
         </property>
         <property name="maximum">
          <double>5.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.010000000000000</double>
         </property>
         <property name="value">
          <double>0.050000000000000</double>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_36">
         <property name="text">
          <string>Grid cell size</string>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QLabel" name="label_44">
         <property name="text">
          <string>Errode</string>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QCheckBox" name="checkBox_gridErode">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <widget class="QGroupBox" name="groupBox_gridFromProjection">
       <property name="title">
        <string>Grid from 3D projection</string>
       </property>
       <property name="checkable">
        <bool>true</bool>
       </property>
       <property name="checked">
        <bool>false</bool>
       </property>
       <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
        <item row="0" column="0">
         <widget class="QSpinBox" name="spinBox_projDecimation">
          <property name="minimum">
           <number>1</number>
          </property>
          <property name="maximum">
           <number>8</number>
          </property>
          <property name="value">
           <number>4</number>
          </property>
         </widget>
        </item>
        <item row="0" column="1">
         <widget class="QLabel" name="label_37">
          <property name="text">
           <string>Cloud decimation</string>
          </property>
         </widget>
        </item>
        <item row="1" column="0">
         <widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxDepth">
          <property name="suffix">
           <string> m</string>
          </property>
          <property name="decimals">
           <number>1</number>
          </property>
          <property name="minimum">
           <double>0.400000000000000</double>
          </property>
          <property name="maximum">
           <double>15.000000000000000</double>
          </property>
          <property name="singleStep">
           <double>1.000000000000000</double>
          </property>
          <property name="value">
           <double>4.000000000000000</double>
          </property>
         </widget>
        </item>
        <item row="1" column="1">
         <widget class="QLabel" name="label_38">
          <property name="text">
           <string>Cloud max depth</string>
          </property>
         </widget>
        </item>
       </layout>
      </widget>
     </item>
     <item>
      <widget class="QGroupBox" name="groupBox_posefiltering">
       <property name="title">
        <string>Pose filtering</string>
       </property>
       <property name="checkable">
        <bool>true</bool>
       </property>
       <property name="checked">
        <bool>false</bool>
       </property>
       <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
        <item row="4" column="0">
         <widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringAngle">
          <property name="suffix">
           <string> degrees</string>
          </property>
          <property name="decimals">
           <number>0</number>
          </property>
          <property name="maximum">
           <double>180.000000000000000</double>
          </property>
          <property name="value">
           <double>30.000000000000000</double>
          </property>
         </widget>
        </item>
        <item row="3" column="0">
         <widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringRadius">
          <property name="suffix">
           <string> m</string>
          </property>
          <property name="minimum">
           <double>0.010000000000000</double>
          </property>
          <property name="value">
           <double>0.100000000000000</double>
          </property>
         </widget>
        </item>
        <item row="3" column="1">
         <widget class="QLabel" name="label_42">
          <property name="text">
           <string>Radius</string>
          </property>
         </widget>
        </item>
        <item row="4" column="1">
         <widget class="QLabel" name="label_43">
          <property name="text">
           <string>Angle</string>
          </property>
         </widget>
        </item>
       </layout>
      </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>156</height>
        </size>
       </property>
      </spacer>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_detectMoreLC">
   <property name="windowTitle">
    <string>Detect more LCs parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_9">
    <layout class="QVBoxLayout" name="verticalLayout_14">
     <item>
      <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
       <item row="0" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="decimals">
          <number>2</number>
         </property>
         <property name="maximum">
          <double>10.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.100000000000000</double>
         </property>
         <property name="value">
          <double>0.300000000000000</double>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_29">
         <property name="text">
          <string>Radius</string>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
         <property name="suffix">
          <string> degrees</string>
         </property>
         <property name="decimals">
          <number>0</number>
         </property>
         <property name="maximum">
          <double>180.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>1.000000000000000</double>
         </property>
         <property name="value">
          <double>30.000000000000000</double>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QLabel" name="label_30">
         <property name="text">
          <string>Angle</string>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QSpinBox" name="spinBox_detectMore_iterations">
         <property name="minimum">
          <number>1</number>
         </property>
         <property name="maximum">
          <number>100</number>
         </property>
         <property name="value">
          <number>1</number>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_31">
         <property name="text">
          <string>Iterations</string>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <spacer name="verticalSpacer_3">
       <property name="orientation">
        <enum>Qt::Vertical</enum>
       </property>
       <property name="sizeHint" stdset="0">
        <size>
         <width>20</width>
         <height>150</height>
        </size>
       </property>
      </spacer>
     </item>
    </layout>
   </widget>
  </widget>
  <action name="actionOpen_database">
   <property name="text">
    <string>Open database</string>
   </property>
  </action>
  <action name="actionQuit">
   <property name="text">
    <string>Quit</string>
   </property>
  </action>
  <action name="actionGenerate_graph_dot">
   <property name="text">
    <string>Generate graph (*.dot) ...</string>
   </property>
  </action>
  <action name="actionGenerate_graph_only_weighted_locations">
   <property name="text">
    <string>Generate graph (only weighted locations) ...</string>
   </property>
  </action>
  <action name="actionClean_database">
   <property name="text">
    <string>Clean database</string>
   </property>
  </action>
  <action name="actionGenerate_local_graph_dot">
   <property name="text">
    <string>Generate local graph (.dot) ...</string>
   </property>
  </action>
  <action name="actionClean_local_graph">
   <property name="text">
    <string>Clean local graph ...</string>
   </property>
  </action>
  <action name="actionUpdate_base_ids">
   <property name="text">
    <string>Update base ids</string>
   </property>
  </action>
  <action name="actionGenerate_3D_map_pcd">
   <property name="text">
    <string>Export 3D map (*.pcd) ...</string>
   </property>
  </action>
  <action name="actionExport">
   <property name="text">
    <string>Export...</string>
   </property>
  </action>
  <action name="actionExtract_images">
   <property name="text">
    <string>Extract images...</string>
   </property>
  </action>
  <action name="actionView_3D_map">
   <property name="text">
    <string>View 3D map...</string>
   </property>
  </action>
  <action name="actionGenerate_TORO_graph_graph">
   <property name="text">
    <string>Generate TORO graph (*.graph)...</string>
   </property>
  </action>
  <action name="actionRefine_all_neighbor_links">
   <property name="text">
    <string>ICP: Refine all neighbor links...</string>
   </property>
  </action>
  <action name="actionRefine_all_loop_closure_links">
   <property name="text">
    <string>ICP: Refine all loop closure links...</string>
   </property>
  </action>
  <action name="actionDetect_more_loop_closures">
   <property name="text">
    <string>Detect more loop closures...</string>
   </property>
  </action>
  <action name="actionVisual_Refine_all_neighbor_links">
   <property name="text">
    <string>Visual: Refine all neighbor links...</string>
   </property>
  </action>
  <action name="actionVisual_Refine_all_loop_closure_links">
   <property name="text">
    <string>Visual: Refine all loop closure links...</string>
   </property>
  </action>
  <action name="actionSave_config">
   <property name="text">
    <string>Save config</string>
   </property>
  </action>
 </widget>
 <customwidgets>
  <customwidget>
   <class>rtabmap::CloudViewer</class>
   <extends>QWidget</extends>
   <header>rtabmap/gui/CloudViewer.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::ImageView</class>
   <extends>QGraphicsView</extends>
   <header>rtabmap/gui/ImageView.h</header>
  </customwidget>
  <customwidget>
   <class>rtabmap::GraphViewer</class>
   <extends>QGraphicsView</extends>
   <header>GraphViewer.h</header>
  </customwidget>
 </customwidgets>
 <resources/>
 <connections/>
</ui>