Integrated Fovis (Odom/Strategy=2)

CMakeLists.txt

@@ -152,6 +152,7 @@ option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
+option(WITH_FOVIS         "Include FOVIS support"                ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -344,6 +345,13 @@ IF(WITH_CPUTSDF)
     ENDIF(CPUTSDF_FOUND)
 ENDIF(WITH_CPUTSDF)
 
+IF(WITH_FOVIS)
+    FIND_PACKAGE(libfovis QUIET)
+    IF(libfovis_FOUND)
+       MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
+    ENDIF(libfovis_FOUND)
+ENDIF(WITH_FOVIS)
+
 IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
@@ -466,6 +474,11 @@ IF(NOT CPUTSDF_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${CPUTSDF_LIBRARIES}) 
 ENDIF()
+IF(NOT libfovis_FOUND)
+   SET(FOVIS "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libfovis_LIBRARIES}) 
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -789,6 +802,14 @@ ELSE()
 MESSAGE(STATUS "  With CPUTSDF              = NO (CPUTSDF not found)")
 ENDIF()
 
+IF(libfovis_FOUND)
+MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
+ELSEIF(NOT WITH_FOVIS)
+MESSAGE(STATUS "  With libfovis             = NO (WITH_FOVIS=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)

Version.h.in

@@ -54,6 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
 @OCTOMAP@#define RTABMAP_OCTOMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
+@FOVIS@#define RTABMAP_FOVIS
 
 #endif /* VERSION_H_ */
 

corelib/include/rtabmap/core/Odometry.h

@@ -45,7 +45,8 @@ public:
 	enum Type {
 		kTypeUndef = -1,
 		kTypeF2M = 0,
-		kTypeF2F = 1
+		kTypeF2F = 1,
+		kTypeFovis = 2
 	};
 
 public:

corelib/include/rtabmap/core/OdometryFovis.h

@@ -0,0 +1,67 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYFOVIS_H_
+#define ODOMETRYFOVIS_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace fovis {
+class VisualOdometry;
+class Rectification;
+class StereoCalibration;
+class DepthImage;
+class StereoDepth;
+}
+
+namespace rtabmap {
+
+class Registration;
+
+class RTABMAP_EXP OdometryFovis : public Odometry
+{
+public:
+	OdometryFovis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryFovis();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeFovis;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+	fovis::VisualOdometry * fovis_;
+	fovis::Rectification * rect_;
+	fovis::StereoCalibration * stereoCalib_;
+	fovis::DepthImage * depthImage_;
+	fovis::StereoDepth * stereoDepth_;
+};
+
+}
+
+#endif /* ODOMETRYFOVIS_H_ */

corelib/include/rtabmap/core/Parameters.h

@@ -363,7 +363,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(GTSAM, Optimizer,             int, 1,          "0=Levenberg 1=GaussNewton 2=Dogleg");
 
 	// Odometry
-	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F)");
+	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis");
 	RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,         "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
 	RTABMAP_PARAM(Odom, Holonomic, 		        bool, true,     "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
 	RTABMAP_PARAM(Odom, FillInfoData, 		    bool, true,     "Fill info with data (inliers/outliers features).");

corelib/src/CMakeLists.txt

@@ -60,6 +60,7 @@ SET(SRC_FILES
 	OdometryF2M.cpp
 	OdometryMono.cpp
 	OdometryF2F.cpp
+	OdometryFovis.cpp
 	
 	Stereo.cpp
 	StereoDense.cpp
@@ -275,6 +276,17 @@ IF(OCTOMAP_FOUND)
 	)
 ENDIF(OCTOMAP_FOUND)
 
+IF(libfovis_FOUND)
+    SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${libfovis_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${libfovis_LIBRARIES}
+	)
+ENDIF(libfovis_FOUND)
+
 ####################################
 # Generate resources files
 ####################################

corelib/src/Odometry.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/OdometryF2M.h>
 #include "rtabmap/core/Odometry.h"
 #include "rtabmap/core/OdometryF2F.h"
+#include "rtabmap/core/OdometryFovis.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/util3d_mapping.h"
@@ -56,6 +57,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	Odometry * odometry = 0;
 	switch(type)
 	{
+	case Odometry::kTypeFovis:
+		odometry = new OdometryFovis(parameters);
+		break;
 	case Odometry::kTypeF2F:
 		odometry = new OdometryF2F(parameters);
 		break;

corelib/src/OdometryFovis.cpp

@@ -0,0 +1,334 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "rtabmap/core/OdometryFovis.h"
+#include "rtabmap/core/OdometryInfo.h"
+#include "rtabmap/core/util2d.h"
+#include "rtabmap/core/Version.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
+#include "rtabmap/utilite/UStl.h"
+
+#ifdef RTABMAP_FOVIS
+#include <fovis.hpp>
+#endif
+
+namespace rtabmap {
+
+OdometryFovis::OdometryFovis(const ParametersMap & parameters) :
+	Odometry(parameters),
+	fovis_(0),
+	rect_(0),
+	stereoCalib_(0),
+	depthImage_(0),
+	stereoDepth_(0)
+{
+}
+
+OdometryFovis::~OdometryFovis()
+{
+#ifdef RTABMAP_FOVIS
+	if(fovis_)
+	{
+		delete fovis_;
+	}
+	if(rect_)
+	{
+		delete rect_;
+	}
+	if(stereoCalib_)
+	{
+		delete stereoCalib_;
+	}
+	if(depthImage_)
+	{
+		delete depthImage_;
+	}
+	if(stereoDepth_)
+	{
+		delete stereoDepth_;
+	}
+#endif
+}
+
+void OdometryFovis::reset(const Transform & initialPose)
+{
+	Odometry::reset(initialPose);
+#ifdef RTABMAP_FOVIS
+	if(fovis_)
+	{
+		delete fovis_;
+		fovis_ = 0;
+	}
+	if(rect_)
+	{
+		delete rect_;
+		rect_ = 0;
+	}
+	if(stereoCalib_)
+	{
+		delete stereoCalib_;
+		stereoCalib_ = 0;
+	}
+	if(depthImage_)
+	{
+		delete depthImage_;
+		depthImage_ = 0;
+	}
+	if(stereoDepth_)
+	{
+		delete stereoDepth_;
+		stereoDepth_ = 0;
+	}
+#endif
+}
+
+// return not null transform if odometry is correctly computed
+Transform OdometryFovis::computeTransform(
+		SensorData & data,
+		const Transform & guess,
+		OdometryInfo * info)
+{
+	Transform t;
+
+#ifdef RTABMAP_FOVIS
+	UTimer timer;
+
+	if(data.imageRaw().empty() ||
+		data.imageRaw().rows != data.depthOrRightRaw().rows ||
+		data.imageRaw().cols != data.depthOrRightRaw().cols)
+	{
+		UERROR("Not supported input!");
+		return t;
+	}
+
+	if(!((data.cameraModels().size() == 1 &&
+			data.cameraModels()[0].isValidForReprojection()) ||
+		(data.stereoCameraModel().isValidForProjection() &&
+			data.stereoCameraModel().left().isValidForReprojection() &&
+			data.stereoCameraModel().right().isValidForReprojection())))
+	{
+		UERROR("Invalid camera model!");
+		return t;
+	}
+
+	cv::Mat gray;
+	if(data.imageRaw().type() == CV_8UC3)
+	{
+		cv::cvtColor(data.imageRaw(), gray, CV_BGR2GRAY);
+	}
+	else if(data.imageRaw().type() == CV_8UC1)
+	{
+		gray = data.imageRaw();
+	}
+	else
+	{
+		UFATAL("Not supported color type!");
+	}
+
+	fovis::VisualOdometryOptions options = fovis::VisualOdometry::getDefaultOptions();
+	fovis::DepthSource * depthSource = 0;
+	cv::Mat depth;
+	cv::Mat right;
+	Transform localTransform = Transform::getIdentity();
+	if(data.cameraModels().size() == 1) //depth
+	{
+		fovis::CameraIntrinsicsParameters rgb_params;
+		memset(&rgb_params, 0, sizeof(fovis::CameraIntrinsicsParameters));
+		rgb_params.width = data.cameraModels()[0].imageWidth();
+		rgb_params.height = data.cameraModels()[0].imageHeight();
+
+		rgb_params.fx = data.cameraModels()[0].fx();
+		rgb_params.fy = data.cameraModels()[0].fy();
+		rgb_params.cx = data.cameraModels()[0].cx()==0.0?double(rgb_params.width) / 2.0:data.cameraModels()[0].cx();
+		rgb_params.cy = data.cameraModels()[0].cy()==0.0?double(rgb_params.height) / 2.0:data.cameraModels()[0].cy();
+		localTransform = data.cameraModels()[0].localTransform();
+
+		if(rect_ == 0)
+		{
+			UINFO("Init rgbd fovis: %dx%d fx=%f fy=%f cx=%f cy=%f", rgb_params.width, rgb_params.height, rgb_params.fx, rgb_params.fy, rgb_params.cx, rgb_params.cy);
+			rect_ = new fovis::Rectification(rgb_params);
+		}
+
+		if(depthImage_ == 0)
+		{
+			depthImage_ = new fovis::DepthImage(rgb_params, rgb_params.width, rgb_params.height);
+		}
+		// make sure all zeros are NAN
+		if(data.depthRaw().type() == CV_32FC1)
+		{
+			depth = data.depthRaw();
+			for(int i=0; i<depth.rows; ++i)
+			{
+				for(int j=0; j<depth.cols; ++j)
+				{
+					float & d = depth.at<float>(i,j);
+					if(d == 0.0f)
+					{
+						d = NAN;
+					}
+				}
+			}
+		}
+		else if(data.depthRaw().type() == CV_16UC1)
+		{
+			depth = cv::Mat(data.depthRaw().size(), CV_32FC1);
+			for(int i=0; i<data.depthRaw().rows; ++i)
+			{
+				for(int j=0; j<data.depthRaw().cols; ++j)
+				{
+					float d = float(data.depthRaw().at<unsigned short>(i,j))/1000.0f;
+					depth.at<float>(i, j) = d==0.0f?NAN:d;
+				}
+			}
+		}
+		else
+		{
+			UFATAL("Unknown depth format!");
+		}
+		depthImage_->setDepthImage((float*)depth.data);
+		depthSource = depthImage_;
+	}
+	else // stereo
+	{
+		// initialize left camera parameters
+		fovis::CameraIntrinsicsParameters left_parameters;
+		left_parameters.width = data.stereoCameraModel().left().imageWidth();
+		left_parameters.height = data.stereoCameraModel().left().imageHeight();
+		left_parameters.fx = data.stereoCameraModel().left().fx();
+		left_parameters.fy = data.stereoCameraModel().left().fy();
+		left_parameters.cx = data.stereoCameraModel().left().cx()==0.0?double(left_parameters.width) / 2.0:data.stereoCameraModel().left().cx();
+		left_parameters.cy = data.stereoCameraModel().left().cy()==0.0?double(left_parameters.height) / 2.0:data.stereoCameraModel().left().cy();
+		localTransform = data.stereoCameraModel().localTransform();
+
+		if(rect_ == 0)
+		{
+			UINFO("Init stereo fovis: %dx%d fx=%f fy=%f cx=%f cy=%f", left_parameters.width, left_parameters.height, left_parameters.fx, left_parameters.fy, left_parameters.cx, left_parameters.cy);
+			rect_ = new fovis::Rectification(left_parameters);
+		}
+
+		if(stereoCalib_ == 0)
+		{
+			// initialize right camera parameters
+			fovis::CameraIntrinsicsParameters right_parameters;
+			right_parameters.width = data.stereoCameraModel().right().imageWidth();
+			right_parameters.height = data.stereoCameraModel().right().imageHeight();
+			right_parameters.fx = data.stereoCameraModel().right().fx();
+			right_parameters.fy = data.stereoCameraModel().right().fy();
+			right_parameters.cx = data.stereoCameraModel().right().cx()==0.0?double(right_parameters.width) / 2.0:data.stereoCameraModel().right().cx();
+			right_parameters.cy = data.stereoCameraModel().right().cy()==0.0?double(right_parameters.height) / 2.0:data.stereoCameraModel().right().cy();
+
+			// as we use rectified images, rotation is identity
+			// and translation is baseline only
+			fovis::StereoCalibrationParameters stereo_parameters;
+			stereo_parameters.left_parameters = left_parameters;
+			stereo_parameters.right_parameters = right_parameters;
+			stereo_parameters.right_to_left_rotation[0] = 1.0;
+			stereo_parameters.right_to_left_rotation[1] = 0.0;
+			stereo_parameters.right_to_left_rotation[2] = 0.0;
+			stereo_parameters.right_to_left_rotation[3] = 0.0;
+			stereo_parameters.right_to_left_translation[0] = -data.stereoCameraModel().baseline();
+			stereo_parameters.right_to_left_translation[1] = 0.0;
+			stereo_parameters.right_to_left_translation[2] = 0.0;
+
+			stereoCalib_ = new fovis::StereoCalibration(stereo_parameters);
+		}
+
+		if(stereoDepth_ == 0)
+		{
+			stereoDepth_ = new fovis::StereoDepth(stereoCalib_, options);
+		}
+		if(data.rightRaw().type() == CV_8UC3)
+		{
+			cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY);
+		}
+		else if(data.rightRaw().type() == CV_8UC1)
+		{
+			right = data.rightRaw();
+		}
+		else
+		{
+			UFATAL("Not supported color type!");
+		}
+		stereoDepth_->setRightImage(right.data);
+		depthSource = stereoDepth_;
+	}
+
+	if(fovis_ == 0)
+	{
+		fovis_ = new fovis::VisualOdometry(rect_, options);
+	}
+
+
+	fovis_->processFrame(gray.data, depthSource);
+
+	// get the motion estimate for this frame to the previous frame.
+	t = Transform::fromEigen3d(fovis_->getMotionEstimate());
+
+	fovis::MotionEstimateStatusCode statusCode = fovis::SUCCESS;
+	if(fovis_->getMotionEstimator())
+	{
+		statusCode = fovis_->getMotionEstimator()->getMotionEstimateStatus();
+	}
+
+	if(statusCode > fovis::SUCCESS)
+	{
+		UWARN("Fovis error status: %s", fovis::MotionEstimateStatusCodeStrings[statusCode]);
+		t.setNull();
+	}
+
+	if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
+	{
+		// from camera frame to base frame
+		t = localTransform * t * localTransform.inverse();
+	}
+
+	if(info)
+	{
+		info->type = (int)kTypeFovis;
+		info->keyFrameAdded = fovis_->getChangeReferenceFrames();
+		info->features = fovis_->getTargetFrame()->getNumDetectedKeypoints();
+		info->matches = fovis_->getMotionEstimator()->getNumMatches();
+		info->inliers = fovis_->getMotionEstimator()->getNumInliers();
+		const Eigen::MatrixXd& cov = fovis_->getMotionEstimator()->getMotionEstimateCov();
+		if(cov.cols() == 6 && cov.rows() == 6 && cov(0,0) > 0.0)
+		{
+			info->covariance = cv::Mat::eye(6,6, CV_64FC1);
+			memcpy(info->covariance.data, cov.data(), 36*sizeof(double));
+			info->covariance *= 100.0; // to be in the same scale than loop closure detection
+		}
+	}
+
+	UINFO("Odom update time = %fs status=%s", timer.elapsed(), fovis::MotionEstimateStatusCodeStrings[statusCode]);
+
+#else
+	UERROR("RTAB-Map is not built with FOVIS support! Select another visual odometry approach.");
+#endif
+	return t;
+}
+
+} // namespace rtabmap

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-327</y>
+            <y>0</y>
             <width>678</width>
             <height>2739</height>
            </rect>
@@ -72,7 +72,16 @@
            <property name="spacing">
             <number>0</number>
            </property>
-           <property name="margin">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
             <number>0</number>
            </property>
            <item>
@@ -86,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>5</number>
+                <number>18</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4521,7 +4530,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        <string>Directory of images (optional settings)</string>
                       </property>
                       <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="margin">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="topMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>
@@ -9681,6 +9699,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                           <string>Frame to Frame</string>
                          </property>
                         </item>
+                        <item>
+                         <property name="text">
+                          <string>Fovis</string>
+                         </property>
+                        </item>
                        </widget>
                       </item>
                       <item row="2" column="1">
@@ -11021,7 +11044,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </property>
                       <widget class="QWidget" name="page_54">
                        <layout class="QVBoxLayout" name="verticalLayout_85">
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -11161,7 +11193,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                       </widget>
                       <widget class="QWidget" name="page_55">
                        <layout class="QVBoxLayout" name="verticalLayout_86">
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -11319,7 +11360,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -11399,7 +11449,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -11511,7 +11570,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>