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New rtabmap-reduceGraph CLI tool (#1655)

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* New rtabmap-reduceGraph CLI tool

* fixed some edge cases

* Regenerating optimized map if there was one before reducing the graph

* addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added

* Added kilted status

* Make offline tool always propagate neighbor merged links

* removed a parameter

* fixed disconnected graph

* fixed --help

* Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error.

* exposing neighbor merged ratio parameter to the tool

* show param in log

* refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter.

* Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance.

* Removed NNStrategy override, as it was still done on closing when we changed back to original params

* DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links

* DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer

* slight renaming of ROS jobs

* reprocess: added option --params_last
This commit is contained in:
matlabbe
2026-04-04 19:48:03 -07:00
committed by GitHub
parent 51cfc37923
commit 1ea8fa2e06
24 changed files with 865 additions and 294 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/include/rtabmap/gui/MainWindow.h
+1
View File
@@ -330,6 +330,7 @@ protected:
int iterations,
bool interSession,
bool intraSession,
int minGraphDistance,
// SBA params:
bool sba,
int sbaIterations,
guilib/include/rtabmap/gui/PostProcessingDialog.h
+2
View File
@@ -59,6 +59,7 @@ public:
int iterations() const;
bool intraSession() const;
bool interSession() const;
int minGraphDistance() const;
bool isRefineNeighborLinks() const;
bool isRefineLoopClosureLinks() const;
bool isSBA() const;
@@ -74,6 +75,7 @@ public:
void setIterations(int iterations);
void setIntraSession(bool enabled);
void setInterSession(bool enabled);
void setMinGraphDistance(int value);
void setRefineNeighborLinks(bool on);
void setRefineLoopClosureLinks(bool on);
void setSBA(bool on);
guilib/src/DatabaseViewer.cpp
+62 -6
View File
@@ -239,6 +239,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopClosureReextractFeatures()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopCovLimited()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDProximityPathFilteringRadius()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kMemSTMSize()));
ui_->parameters_toolbox->setupUi(parameters);
exportDialog_->setObjectName("ExportCloudsDialog");
restoreDefaultSettings();
@@ -481,6 +482,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_intraSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_interSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_minGraphDistance, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_opt_graph_as_guess, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
@@ -678,6 +680,7 @@ void DatabaseViewer::readSettings()
ui_->checkBox_detectMore_intraSession->setChecked(settings.value("intra_session", ui_->checkBox_detectMore_intraSession->isChecked()).toBool());
ui_->checkBox_detectMore_interSession->setChecked(settings.value("inter_session", ui_->checkBox_detectMore_interSession->isChecked()).toBool());
ui_->checkBox_opt_graph_as_guess->setChecked(settings.value("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked()).toBool());
ui_->spinBox_minGraphDistance->setValue(settings.value("min_graph_distance", ui_->spinBox_minGraphDistance->value()).toInt());
settings.endGroup();
settings.endGroup();
@@ -775,6 +778,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("intra_session", ui_->checkBox_detectMore_intraSession->isChecked());
settings.setValue("inter_session", ui_->checkBox_detectMore_interSession->isChecked());
settings.setValue("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked());
settings.setValue("min_graph_distance", ui_->spinBox_minGraphDistance->value());
settings.endGroup();
settings.endGroup();
@@ -856,6 +860,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->checkBox_detectMore_interSession->setChecked(true);
ui_->checkBox_opt_graph_as_guess->setChecked(true);
ui_->spinBox_fromToMapId->setValue(-1);
ui_->spinBox_minGraphDistance->setValue(10);
}
void DatabaseViewer::openDatabase()
@@ -4285,10 +4290,12 @@ void DatabaseViewer::detectMoreLoopClosures()
const ParametersMap & parameters = ui_->parameters_toolbox->getParameters();
bool loopCovLimited = Parameters::defaultRGBDLoopCovLimited();
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), loopCovLimited);
std::multimap<int, Link> links = updateLinksWithModifications(links_);
if(loopCovLimited)
{
odomMaxInf_ = graph::getMaxOdomInf(updateLinksWithModifications(links_));
odomMaxInf_ = graph::getMaxOdomInf(links);
}
links = graph::filterLinks(links, Link::kNeighbor, true); // keep only neighbor links
int iterations = ui_->spinBox_detectMore_iterations->value();
UASSERT(iterations > 0);
@@ -4299,6 +4306,7 @@ void DatabaseViewer::detectMoreLoopClosures()
bool interSession = ui_->checkBox_detectMore_interSession->isChecked();
bool useOptimizedGraphAsGuess = ui_->checkBox_opt_graph_as_guess->isChecked();
int fromToMapId = ui_->spinBox_fromToMapId->value();
int minimumGraphDistance = ui_->spinBox_minGraphDistance->value();
if(!interSession && !intraSession)
{
QMessageBox::warning(this, tr("Cannot detect more loop closures"), tr("Intra and inter session parameters are disabled! Enable one or both."));
@@ -4324,6 +4332,7 @@ void DatabaseViewer::detectMoreLoopClosures()
progressDialog->appendText(tr("Looking for more loop closures: %1 clusters found.").arg(clusters.size()));
if(fromToMapId >=0)
{
int clusterBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
int mapId = uValue(mapIds_, iter->first, 0);
@@ -4335,7 +4344,8 @@ void DatabaseViewer::detectMoreLoopClosures()
++iter;
}
}
progressDialog->appendText(tr("Looking for more loop closures: filtered %1 clusters for map session %2.").arg(clusters.size()).arg(fromToMapId));
progressDialog->appendText(tr("Looking for more loop closures: filtered %1/%2 clusters for map session %3.")
.arg(clusterBefore-clusters.size()).arg(clusterBefore).arg(fromToMapId));
if(clusters.empty())
{
progressDialog->appendText(tr("No clusters belong to mapId %1, aborting!").arg(fromToMapId));
@@ -4344,6 +4354,34 @@ void DatabaseViewer::detectMoreLoopClosures()
}
}
if(minimumGraphDistance > 1)
{
int clusterBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
if(abs(iter->first - iter->second) < minimumGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
// compute path to know how far we are in terms of graph length
std::list<int> path = graph::computePath(links, iter->first, iter->second);
if(!path.empty() && (int)path.size() <= minimumGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
++iter;
}
}
}
progressDialog->appendText(tr("Filtered %1/%2 clusters for too close nodes (below minimum graph distance=%3).")
.arg(clusterBefore-clusters.size()).arg(clusterBefore).arg(minimumGraphDistance));
QApplication::processEvents();
}
progressDialog->setMaximumSteps(progressDialog->maximumSteps()+(int)clusters.size());
QApplication::processEvents();
@@ -4700,10 +4738,17 @@ void DatabaseViewer::graphNodeSelected(int id)
void DatabaseViewer::graphLinkSelected(int from, int to)
{
if(from>0 && idToIndex_.contains(from))
ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
if(to>0 && idToIndex_.contains(to))
ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
if(from < 0 || to < 0)
{
updateLoopClosuresSlider(from, to);
}
else
{
if(idToIndex_.contains(from))
ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
if(idToIndex_.contains(to))
ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
}
}
void DatabaseViewer::sliderAValueChanged(int value)
@@ -8051,6 +8096,17 @@ void DatabaseViewer::updateGraphView()
ui_->label_timeOptimization->setNum(0);
ui_->label_poses->setNum((int)optPoses.size());
graphes_.push_back(optPoses);
// Just get the links:
std::map<int, rtabmap::Transform> posesOut;
UINFO("Get connected graph from %d (%d poses, %d links)", fromId, (int)poses.size(), (int)links.size());
std::shared_ptr<Optimizer> optimizer(Optimizer::create(parameters));
optimizer->getConnectedGraph(
fromId,
optPoses,
links,
posesOut,
graphLinks_);
UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)graphLinks_.size());
}
ui_->horizontalSlider_rotation->setEnabled(false);
ui_->pushButton_applyRotation->setEnabled(false);
guilib/src/ExportCloudsDialog.cpp
+2 -2
View File
@@ -3703,7 +3703,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
0,
0,
0,
_ui->checkBox_fromDepth->isChecked()?&confidence:0);
_ui->checkBox_fromDepth->isChecked()&&_ui->spinBox_depthConfidence->value()>0?&confidence:0);
}
else if(_dbDriver)
{
@@ -3717,7 +3717,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
0,
0,
0,
_ui->checkBox_fromDepth->isChecked()?&confidence:0);
_ui->checkBox_fromDepth->isChecked()&&_ui->spinBox_depthConfidence->value()>0?&confidence:0);
}
if(_ui->checkBox_fromDepth->isChecked() && !data.imageRaw().empty() && !data.depthOrRightRaw().empty())
guilib/src/MainWindow.cpp
+31
View File
@@ -6563,6 +6563,7 @@ void MainWindow::showPostProcessingDialog()
_postProcessingDialog->iterations(),
_postProcessingDialog->interSession(),
_postProcessingDialog->intraSession(),
_postProcessingDialog->minGraphDistance(),
_postProcessingDialog->isSBA(),
_postProcessingDialog->sbaIterations(),
_postProcessingDialog->sbaVariance(),
@@ -6579,6 +6580,7 @@ void MainWindow::postProcessing(
int iterations,
bool interSession,
bool intraSession,
int minGraphDistance,
bool sba,
int sbaIterations,
double sbaVariance,
@@ -6687,6 +6689,7 @@ void MainWindow::postProcessing(
{
odomMaxInf = graph::getMaxOdomInf(_currentLinksMap);
}
std::multimap<int, Link> neigborLinks = graph::filterLinks(_currentLinksMap, Link::kNeighbor, true);
std::shared_ptr<Registration> registration(Registration::create(parameters));
@@ -6705,6 +6708,34 @@ void MainWindow::postProcessing(
_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
QApplication::processEvents();
if(minGraphDistance > 1)
{
int clustersBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
if(abs(iter->first - iter->second) < minGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
// compute path to know how far we are in terms of graph length
std::list<int> path = graph::computePath(neigborLinks, iter->first, iter->second);
if(!path.empty() && (int)path.size() <= minGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
++iter;
}
}
}
_progressDialog->appendText(tr("Filtered %1/%2 clusters for too close nodes (below minimum graph distance=%3).")
.arg(clustersBefore-clusters.size()).arg(clustersBefore).arg(minGraphDistance));
QApplication::processEvents();
}
int i=0;
std::set<int> addedLinks;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end() && !_progressCanceled; ++iter, ++i)
guilib/src/PostProcessingDialog.cpp
+13
View File
@@ -82,6 +82,7 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->intraSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->interSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->minGraphDistance, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -150,6 +151,7 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("iterations", this->iterations());
settings.setValue("intra_session", this->intraSession());
settings.setValue("inter_session", this->interSession());
settings.setValue("min_graph_distance", this->minGraphDistance());
settings.setValue("refine_neigbors", this->isRefineNeighborLinks());
settings.setValue("refine_lc", this->isRefineLoopClosureLinks());
settings.setValue("sba", this->isSBA());
@@ -175,6 +177,7 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setIterations(settings.value("iterations", this->iterations()).toInt());
this->setIntraSession(settings.value("intra_session", this->intraSession()).toBool());
this->setInterSession(settings.value("inter_session", this->interSession()).toBool());
this->setMinGraphDistance(settings.value("min_graph_distance", this->minGraphDistance()).toInt());
this->setRefineNeighborLinks(settings.value("refine_neigbors", this->isRefineNeighborLinks()).toBool());
this->setRefineLoopClosureLinks(settings.value("refine_lc", this->isRefineLoopClosureLinks()).toBool());
this->setSBA(settings.value("sba", this->isSBA()).toBool());
@@ -197,6 +200,7 @@ void PostProcessingDialog::restoreDefaults()
setIterations(5);
setIntraSession(true);
setInterSession(true);
setMinGraphDistance(10);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
@@ -254,6 +258,11 @@ bool PostProcessingDialog::interSession() const
return _ui->interSession->isChecked();
}
int PostProcessingDialog::minGraphDistance() const
{
return _ui->minGraphDistance->value();
}
bool PostProcessingDialog::isRefineNeighborLinks() const
{
return _ui->refineNeighborLinks->isChecked();
@@ -311,6 +320,10 @@ void PostProcessingDialog::setInterSession(bool enabled)
{
_ui->interSession->setChecked(enabled);
}
void PostProcessingDialog::setMinGraphDistance(int value)
{
_ui->minGraphDistance->setValue(value);
}
void PostProcessingDialog::setRefineNeighborLinks(bool on)
{
_ui->refineNeighborLinks->setChecked(on);
guilib/src/ui/DatabaseViewer.ui
+134 -114
View File
@@ -1729,7 +1729,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>314</width>
<width>403</width>
<height>188</height>
</rect>
</property>
@@ -1885,8 +1885,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>276</width>
<height>1598</height>
<width>518</width>
<height>1071</height>
</rect>
</property>
<attribute name="label">
@@ -2604,15 +2604,29 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-152</y>
<y>-175</y>
<width>403</width>
<height>287</height>
<height>319</height>
</rect>
</property>
<attribute name="label">
<string>Detect more loop closures</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Inter-session</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_interSession">
<property name="text">
@@ -2620,6 +2634,103 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Radius Max</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Intra-session</string>
</property>
</widget>
</item>
<item row="9" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" 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_36">
<property name="text">
<string>Radius Min</string>
</property>
</widget>
</item>
<item row="3" 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>5</number>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>From/to map ID only (-1 is all)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>Iterations</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
<property name="suffix">
@@ -2639,43 +2750,6 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Intra-session</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>Iterations</string>
</property>
</widget>
</item>
<item row="3" 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>5</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
@@ -2686,13 +2760,6 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
<property name="suffix">
@@ -2712,66 +2779,6 @@
</property>
</widget>
</item>
<item row="8" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Radius Max</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Radius Min</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Inter-session</string>
</property>
</widget>
</item>
<item row="2" 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="7" column="0">
<widget class="QSpinBox" name="spinBox_fromToMapId">
<property name="minimum">
@@ -2785,10 +2792,23 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_38">
<item row="8" column="1">
<widget class="QLabel" name="label_40">
<property name="text">
<string>From/to map ID only (-1 is all)</string>
<string>Minimum graph distance</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_minGraphDistance">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
@@ -2799,8 +2819,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>181</width>
<height>485</height>
<width>428</width>
<height>196</height>
</rect>
</property>
<attribute name="label">
guilib/src/ui/postProcessingDialog.ui
+44 -18
View File
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>552</width>
<height>633</height>
<width>553</width>
<height>662</height>
</rect>
</property>
<property name="windowTitle">
@@ -67,10 +67,10 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_3">
<item row="4" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Cluster radius</string>
<string>Inter-session</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -87,10 +87,10 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_6">
<item row="0" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Iterations</string>
<string>Cluster radius</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -120,16 +120,6 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Inter-session</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="intraSession">
<property name="text">
@@ -137,6 +127,16 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Iterations</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="interSession">
<property name="text">
@@ -144,6 +144,32 @@
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Minimum graph distance</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="minGraphDistance">
<property name="suffix">
<string> nodes</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
</layout>
</item>
<item>