moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/DatabaseViewer/CMakeLists.txt

@@ -0,0 +1,57 @@
+### Qt Gui stuff ###
+SET(headers_ui 
+	./MainWindow.h
+)
+
+SET(uis
+    ./ui/MainWindow.ui
+)
+
+#Generate .h files from the .ui files
+QT4_WRAP_UI(moc_uis ${uis})
+
+#This will generate moc_* for Qt
+QT4_WRAP_CPP(moc_srcs ${headers_ui})
+### Qt Gui stuff  end###
+
+
+SET(SRC_FILES 
+	./main.cpp
+	./MainWindow.cpp
+	${moc_srcs} 
+	${moc_uis} 
+)
+
+SET(INCLUDE_DIRS
+	${CMAKE_CURRENT_SOURCE_DIR}/../include
+	${CMAKE_CURRENT_SOURCE_DIR}/../src
+	${CMAKE_CURRENT_SOURCE_DIR}
+	${UTILITE_INCLUDE_DIR}
+	${OpenCV_INCLUDE_DIRS}
+	${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
+)
+
+INCLUDE(${QT_USE_FILE})
+
+SET(LIBRARIES
+    ${UTILITE_LIBRARY}
+    ${QT_LIBRARIES} 
+	${OpenCV_LIBRARIES} 
+	#${QWT5_LIBRARY} 
+)
+
+#include files
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+# Add binary called "databaseViewer" that is built from the source file "main.cpp".
+# The extension is automatically found.
+ADD_EXECUTABLE(databaseViewer WIN32 ${SRC_FILES})
+TARGET_LINK_LIBRARIES(databaseViewer corelib ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( databaseViewer 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
+
+INSTALL(TARGETS databaseViewer
+        RUNTIME DESTINATION bin COMPONENT runtime
+        LIBRARY DESTINATION lib COMPONENT devel
+        ARCHIVE DESTINATION lib COMPONENT devel)

corelib/DatabaseViewer/MainWindow.cpp

@@ -0,0 +1,417 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "MainWindow.h"
+#include "ui_MainWindow.h"
+#include <QtGui/QMessageBox>
+#include <QtGui/QFileDialog>
+#include <QtGui/QInputDialog>
+#include <QtCore/QBuffer>
+#include <QtCore/QTextStream>
+#include <utilite/ULogger.h>
+#include <utilite/UDirectory.h>
+#include <utilite/UConversion.h>
+#include <opencv2/core/core_c.h>
+#include <utilite/UTimer.h>
+#include "KeypointMemory.h"
+#include "rtabmap/core/DBDriver.h"
+
+MainWindow::MainWindow(QWidget * parent) :
+	QMainWindow(parent),
+	memory_(0)
+{
+	pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
+
+	if(!UDirectory::exists(pathDatabase_.toStdString()))
+	{
+		pathDatabase_ = QDir::homePath();
+	}
+
+	ui_ = new Ui_MainWindow();
+	ui_->setupUi(this);
+
+	connect(ui_->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
+
+	// connect actions with custom slots
+	connect(ui_->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
+	connect(ui_->actionGenerate_graph_dot, SIGNAL(triggered()), this, SLOT(generateGraph()));
+	connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
+	connect(ui_->actionClean_database, SIGNAL(triggered()), this, SLOT(cleanDatabase()));
+	connect(ui_->actionClean_local_graph, SIGNAL(triggered()), this, SLOT(cleanLocalGraph()));
+
+	ui_->graphicsView_A->setScene(new QGraphicsScene(this));
+	ui_->graphicsView_B->setScene(new QGraphicsScene(this));
+
+	ui_->horizontalSlider_A->setTracking(false);
+	ui_->horizontalSlider_B->setTracking(false);
+	ui_->horizontalSlider_A->setEnabled(false);
+	ui_->horizontalSlider_B->setEnabled(false);
+	connect(ui_->horizontalSlider_A, SIGNAL(valueChanged(int)), this, SLOT(sliderAValueChanged(int)));
+	connect(ui_->horizontalSlider_B, SIGNAL(valueChanged(int)), this, SLOT(sliderBValueChanged(int)));
+	connect(ui_->horizontalSlider_A, SIGNAL(sliderMoved(int)), this, SLOT(sliderAMoved(int)));
+	connect(ui_->horizontalSlider_B, SIGNAL(sliderMoved(int)), this, SLOT(sliderBMoved(int)));
+}
+
+MainWindow::~MainWindow()
+{
+	delete ui_;
+	if(memory_)
+	{
+		delete memory_;
+	}
+}
+
+void MainWindow::openDatabase()
+{
+	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), pathDatabase_, tr("Databases (*.db)"));
+	if(!path.isEmpty())
+	{
+		if(memory_)
+		{
+			delete memory_;
+			memory_ = 0;
+			imagesMap_.clear();
+			ids_.clear();
+		}
+
+		std::string driverType = "sqlite3";
+		rtabmap::ParametersMap parameters;
+		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
+		memory_ = new rtabmap::KeypointMemory(parameters);
+		if(!memory_)
+		{
+			QMessageBox::warning(this, "Database error", tr("Can't create database driver \"%1\"").arg(driverType.c_str()));
+		}
+		else if(!memory_->init(driverType, path.toStdString()))
+		{
+			QMessageBox::warning(this, "Database error", tr("Can't open database \"%1\"").arg(path));
+		}
+		else
+		{
+			pathDatabase_ = path;
+			updateIds();
+		}
+	}
+
+
+}
+
+void MainWindow::updateIds()
+{
+	if(!memory_)
+	{
+		return;
+	}
+
+	std::set<int> ids = memory_->getAllSignatureIds();
+	ids_ = QList<int>::fromStdList(std::list<int>(ids.begin(), ids.end()));
+	ids_.prepend(0);
+
+	UDEBUG("Loaded %d ids", ids_.size());
+
+	if(ids_.size())
+	{
+		ui_->horizontalSlider_A->setMinimum(0);
+		ui_->horizontalSlider_B->setMinimum(0);
+		ui_->horizontalSlider_A->setMaximum(ids_.size()-1);
+		ui_->horizontalSlider_B->setMaximum(ids_.size()-1);
+		ui_->horizontalSlider_A->setSliderPosition(0);
+		ui_->horizontalSlider_B->setSliderPosition(0);
+		ui_->horizontalSlider_A->setEnabled(true);
+		ui_->horizontalSlider_B->setEnabled(true);
+		ui_->label_idA->setText("0");
+		ui_->label_idB->setText("0");
+	}
+	else
+	{
+		ui_->horizontalSlider_A->setEnabled(false);
+		ui_->horizontalSlider_B->setEnabled(false);
+		ui_->label_idA->setText("NaN");
+		ui_->label_idB->setText("NaN");
+	}
+}
+
+void MainWindow::cleanDatabase()
+{
+	if(!memory_ || !ids_.size())
+	{
+		QMessageBox::warning(this, tr("Cannot clean the database"), tr("A database (not empty) must must loaded first...\nUse File->Open database."));
+		return;
+	}
+
+	bool ok;
+	int depth = QInputDialog::getInt(this, tr("Depth around the weighted locations?"), tr("Depth"), 10, 1, 1000, 1, &ok);
+	if(ok)
+	{
+		UINFO("Cleaning...");
+		//Remove all signatures with null weight and between two intersections
+		memory_->cleanLTM(depth);
+
+		//dbDriver_->executeNoResult(std::string("DELETE FROM Signature WHERE loopClosureId!=0;"));
+		//dbDriver_->executeNoResult(std::string("DELETE FROM Neighbor WHERE NOT EXISTS (SELECT * FROM Signature WHERE Signature.id = Neighbor.sid);"));
+		//dbDriver_->executeNoResult(std::string("DELETE FROM Neighbor WHERE NOT EXISTS (SELECT * FROM Signature WHERE Signature.id = Neighbor.nid);"));
+
+		// Clean links
+		//dbDriver_->executeNoResult(std::string("DELETE FROM Map_SS_VW WHERE NOT EXISTS (SELECT * FROM Signature WHERE Signature.id = signatureId);"));
+
+		// Clean words
+		//dbDriver_->deleteUnreferencedWords();
+
+		updateIds();
+		UINFO("Finished cleaning!");
+	}
+}
+
+void MainWindow::cleanLocalGraph()
+{
+	if(!ids_.size() || !memory_)
+	{
+		QMessageBox::warning(this, tr("Cannot generate a graph"), tr("The database is empty..."));
+		return;
+	}
+	bool ok = false;
+	int id = QInputDialog::getInt(this, tr("Around which location?"), tr("Location ID"), ids_.first(), ids_.first(), ids_.last(), 1, &ok);
+
+	if(ok)
+	{
+		int margin = QInputDialog::getInt(this, tr("Depth around the location?"), tr("Margin"), 4, 1, 100, 1, &ok);
+		if(ok)
+		{
+			UTimer timer;
+			UINFO("Cleaning local graph for location %d", id);
+
+			memory_->cleanLocalGraph(id, margin);
+
+			updateIds();
+			UINFO("time=%fs", timer.ticks());
+		}
+	}
+}
+
+void MainWindow::generateGraph()
+{
+	if(!memory_)
+	{
+		QMessageBox::warning(this, tr("Cannot generate a graph"), tr("A database must must loaded first...\nUse File->Open database."));
+		return;
+	}
+
+	QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/Graph.dot", tr("Graphiz file (*.dot)"));
+	if(!path.isEmpty())
+	{
+		memory_->generateGraph(path.toStdString());
+	}
+}
+
+void MainWindow::generateLocalGraph()
+{
+	if(!ids_.size() || !memory_)
+	{
+		QMessageBox::warning(this, tr("Cannot generate a graph"), tr("The database is empty..."));
+		return;
+	}
+	bool ok = false;
+	int id = QInputDialog::getInt(this, tr("Around which location?"), tr("Location ID"), ids_.first(), ids_.first(), ids_.last(), 1, &ok);
+
+	if(ok)
+	{
+		int margin = QInputDialog::getInt(this, tr("Depth around the location?"), tr("Margin"), 4, 1, 100, 1, &ok);
+		if(ok)
+		{
+			QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/Graph" + QString::number(id) + ".dot", tr("Graphiz file (*.dot)"));
+			if(!path.isEmpty())
+			{
+				std::map<int, int> ids;
+				memory_->getNeighborsId(ids, id, margin-1, true);
+				ids.insert(std::pair<int,int>(id, 0));
+				std::set<int> idsSet;
+				for(std::map<int, int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
+				{
+					idsSet.insert(idsSet.end(), iter->first);
+				}
+				memory_->generateGraph(path.toStdString(), idsSet);
+			}
+		}
+	}
+}
+
+void MainWindow::sliderAValueChanged(int value)
+{
+	ui_->label_indexA->setText(QString::number(value));
+	if(value >= 0 && value < ids_.size())
+	{
+		ui_->graphicsView_A->scene()->clear();
+		int id = ids_.at(value);
+		ui_->label_idA->setText(QString::number(id));
+		if(id>0)
+		{
+			QImage img;
+			QMap<int, QByteArray>::iterator iter = imagesMap_.find(id);
+			if(iter == imagesMap_.end())
+			{
+				if(memory_)
+				{
+					IplImage * image = memory_->getImage(id);
+					if(image)
+					{
+						img = ipl2QImage(image);
+						cvReleaseImage(&image);
+						if(!img.isNull())
+						{
+							QByteArray ba;
+							QBuffer buffer(&ba);
+							buffer.open(QIODevice::WriteOnly);
+							img.save(&buffer, "JPEG"); // writes image into ba in JPEG format
+							imagesMap_.insert(id, ba);
+						}
+					}
+				}
+			}
+			else
+			{
+				img.loadFromData(iter.value(), "JPEG");
+			}
+
+			if(!img.isNull())
+			{
+				ui_->graphicsView_A->scene()->addPixmap(QPixmap::fromImage(img));
+			}
+			else
+			{
+				ULOGGER_DEBUG("Image is empty");
+			}
+		}
+
+		ui_->label_idA->setText(QString::number(id));
+		ui_->graphicsView_A->fitInView(ui_->graphicsView_A->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
+	}
+	else
+	{
+		ULOGGER_ERROR("Slider index out of range ?");
+	}
+}
+
+void MainWindow::sliderBValueChanged(int value)
+{
+	ui_->label_indexB->setText(QString::number(value));
+	if(value >= 0 && value < ids_.size())
+	{
+		ui_->graphicsView_B->scene()->clear();
+		int id = ids_.at(value);
+		ui_->label_idB->setText(QString::number(id));
+		if(id>0)
+		{
+			QImage img;
+			QMap<int, QByteArray>::iterator iter = imagesMap_.find(id);
+			if(iter == imagesMap_.end())
+			{
+				if(memory_)
+				{
+					IplImage * image = memory_->getImage(id);
+					if(image)
+					{
+						img = ipl2QImage(image);
+						cvReleaseImage(&image);
+
+						if(!img.isNull())
+						{
+							QByteArray ba;
+							QBuffer buffer(&ba);
+							buffer.open(QIODevice::WriteOnly);
+							img.save(&buffer, "JPEG"); // writes image into ba in JPEG format
+							imagesMap_.insert(id, ba);
+						}
+					}
+				}
+			}
+			else
+			{
+				img.loadFromData(iter.value(), "JPEG");
+			}
+
+			if(!img.isNull())
+			{
+				ui_->graphicsView_B->scene()->addPixmap(QPixmap::fromImage(img));
+			}
+			else
+			{
+				ULOGGER_DEBUG("Image is empty");
+			}
+		}
+
+		ui_->label_idB->setText(QString::number(id));
+		ui_->graphicsView_B->fitInView(ui_->graphicsView_B->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
+	}
+	else
+	{
+		ULOGGER_ERROR("Slider index out of range ?");
+	}
+}
+
+void MainWindow::sliderAMoved(int value)
+{
+	ui_->label_indexA->setText(QString::number(value));
+	if(value>=0 && value < ids_.size())
+	{
+		ui_->label_idA->setText(QString::number(ids_.at(value)));
+	}
+	else
+	{
+		ULOGGER_ERROR("Slider index out of range ?");
+	}
+}
+
+void MainWindow::sliderBMoved(int value)
+{
+	ui_->label_indexB->setText(QString::number(value));
+	if(value>=0 && value < ids_.size())
+	{
+		ui_->label_idB->setText(QString::number(ids_.at(value)));
+	}
+	else
+	{
+		ULOGGER_ERROR("Slider index out of range ?");
+	}
+}
+
+QImage MainWindow::ipl2QImage(const IplImage *newImage) //fct recuperer sur le net, converti un ldImage en QImage
+{
+	QImage qtemp;
+	if (newImage && newImage->depth == IPL_DEPTH_8U && cvGetSize(newImage).width>0)
+	{
+		int x;
+		int y;
+		char* data = newImage->imageData;
+
+		qtemp= QImage(newImage->width, newImage->height,QImage::Format_RGB32 );
+		for( y = 0; y < newImage->height; y++, data +=newImage->widthStep )
+		{
+			for( x = 0; x < newImage->width; x++)
+			{
+				uint *p = (uint*)qtemp.scanLine (y) + x;
+				*p = qRgb(data[x * newImage->nChannels+2], data[x * newImage->nChannels+1],data[x * newImage->nChannels]);
+			}
+		}
+	}
+	else
+	{
+		ULOGGER_ERROR("Wrong IplImage format");
+	}
+ return qtemp;
+}

corelib/DatabaseViewer/MainWindow.h

@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef MAINWINDOW_H_
+#define MAINWINDOW_H_
+
+#include <QtGui/QMainWindow>
+#include <QtCore/QByteArray>
+#include <QtCore/QMap>
+#include <QtCore/QSet>
+#include <QtGui/QImage>
+#include <opencv2/core/core.hpp>
+#include <set>
+
+class Ui_MainWindow;
+
+namespace rtabmap
+{
+class Memory;
+}
+
+class MainWindow : public QMainWindow
+{
+	Q_OBJECT
+
+public:
+	MainWindow(QWidget * parent = 0);
+	virtual ~MainWindow();
+
+private slots:
+	void openDatabase();
+	void cleanDatabase();
+	void cleanLocalGraph();
+	void generateGraph();
+	void generateLocalGraph();
+	void sliderAValueChanged(int);
+	void sliderBValueChanged(int);
+	void sliderAMoved(int);
+	void sliderBMoved(int);
+
+private:
+	void updateIds();
+	QImage ipl2QImage(const IplImage *newImage);
+
+private:
+	Ui_MainWindow * ui_;
+	QMap<int, QByteArray> imagesMap_;
+	QList<int> ids_;
+	rtabmap::Memory * memory_;
+	QString pathDatabase_;
+};
+
+#endif /* MAINWINDOW_H_ */

corelib/DatabaseViewer/main.cpp

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <QtGui/QApplication>
+#include "MainWindow.h"
+#include "utilite/ULogger.h"
+
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kInfo);
+
+	QApplication * app = new QApplication(argc, argv);
+	MainWindow * mainWindow = new MainWindow();
+	mainWindow->showNormal();
+
+	// Now wait for application to finish
+	app->connect( app, SIGNAL( lastWindowClosed() ),
+				app, SLOT( quit() ) );
+	app->exec();// MUST be called by the Main Thread
+
+	delete mainWindow;
+	delete app;
+
+	return 0;
+}

corelib/DatabaseViewer/ui/MainWindow.ui

@@ -0,0 +1,202 @@
+<?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>550</width>
+    <height>318</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Images database viewer</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <layout class="QHBoxLayout" name="horizontalLayout_3">
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_6">
+      <item>
+       <widget class="QGraphicsView" name="graphicsView_A"/>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <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">
+      <item>
+       <widget class="QGraphicsView" name="graphicsView_B"/>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <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>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>550</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuFile">
+    <property name="title">
+     <string>File</string>
+    </property>
+    <addaction name="actionOpen_database"/>
+    <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="actionClean_database"/>
+    <addaction name="actionClean_local_graph"/>
+   </widget>
+   <addaction name="menuFile"/>
+   <addaction name="menuEdit"/>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+  <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>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>