Merge branch 'master' of github.com:introlab/rtabmap into gtest

guilib/include/rtabmap/gui/GraphViewer.h

@@ -80,6 +80,7 @@ public:
 	void updateLocalPath(const std::vector<int> & localPath);
 	void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
 	void setCurrentGoalID(int id, const Transform & pose = Transform());
+	void setNodeInfo(int id, const QString & info);
 	void setLocalRadius(float radius);
 	void highlightNode(int nodeId, int highlightIndex);
 	void clearGraph();

guilib/include/rtabmap/gui/ImageView.h

@@ -60,6 +60,7 @@ public:
 	QRectF sceneRect() const;
 	bool isImageShown() const;
 	bool isImageDepthShown() const;
+	bool isImageDepthConfidenceShown() const;
 	bool isFeaturesShown() const;
 	bool isLinesShown() const;
 	int getAlpha() const {return _alpha;}
@@ -82,6 +83,7 @@ public:
 	void setFeaturesShown(bool shown);
 	void setImageShown(bool shown);
 	void setImageDepthShown(bool shown);
+	void setImageDepthConfidenceShown(bool shown);
 	void setLinesShown(bool shown);
 	void setGraphicsViewMode(bool on);
 	void setGraphicsViewScaled(bool scaled);
@@ -98,8 +100,8 @@ public:
 	void addFeature(int id, const cv::KeyPoint & kpt, float depth, QColor color);
 	void addLine(float x1, float y1, float x2, float y2, QColor color, const QString & text = QString());
 	void setImage(const QImage & image, const std::vector<CameraModel> & models = std::vector<CameraModel>(), const Transform & pose = Transform());
-	void setImageDepth(const cv::Mat & imageDepth);
-	void setImageDepth(const QImage & image);
+	void setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageDepthConfidence = cv::Mat());
+	void setImageDepth(const QImage & image, const QImage & imageDepthConfidence = QImage());
 	void setFeatureColor(int id, QColor color);
 	void setFeaturesColor(QColor color);
 	void setAlpha(int alpha);
@@ -147,6 +149,7 @@ private:
 	QMenu * _menu;
 	QAction * _showImage;
 	QAction * _showImageDepth;
+	QAction * _showImageDepthConfidence;
 	QAction * _showFeatures;
 	QAction * _showLines;
 	QAction * _setFeatureColor;
@@ -175,9 +178,12 @@ private:
 	QList<QGraphicsLineItem*> _lines;
 	QGraphicsPixmapItem * _imageItem;
 	QGraphicsPixmapItem * _imageDepthItem;
+	QGraphicsPixmapItem * _imageDepthConfidenceItem;
 	QPixmap _image;
 	QPixmap _imageDepth;
+	QPixmap _imageDepthConfidence;
 	cv::Mat _imageDepthCv;
+	cv::Mat _imageDepthConfidenceCv;
 	std::vector<CameraModel> _models;
 	Transform _pose;
 };

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -208,6 +208,7 @@ public:
 	double getCloudMaxDepth(int index) const;  // 0=map, 1=odom
 	double getCloudMinDepth(int index) const;  // 0=map, 1=odom
 	std::vector<float> getCloudRoiRatios(int index) const; // 0=map, 1=odom
+	unsigned char getCloudConfidenceThr(int index) const; // 0=map, 1=odom
 	int getCloudColorScheme(int index) const;   // 0=map, 1=odom
 	double getCloudOpacity(int index) const;   // 0=map, 1=odom
 	int getCloudPointSize(int index) const;    // 0=map, 1=odom
@@ -466,6 +467,7 @@ private:
 	QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
 	QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
 	QVector<QLineEdit*> _3dRenderingRoiRatios;
+	QVector<QSpinBox*> _3dRenderingDepthConfidenceThr;
 	QVector<QSpinBox*> _3dRenderingColorScheme;
 	QVector<QDoubleSpinBox*> _3dRenderingOpacity;
 	QVector<QSpinBox*> _3dRenderingPtSize;

guilib/include/rtabmap/utilite/UCv2Qt.h

@@ -39,7 +39,7 @@ enum uCvQtDepthColorMap{
  * depth (float32, uint16) image and RGB/BGR 8bits images.
  * @param image the cv::Mat image (can be 1 channel [CV_8U, CV_16U or CV_32F] or 3 channels [CV_U8])
  * @param isBgr if 3 channels, it is BGR or RGB order.
- * @param colorMap gradient of color to use to visualize depth
+ * @param colorMap gradient of color to use to visualize depth or monochrome images
  * @param depthMin fixed minimum range (m) of the depth gradient (if depthMax<=depthMin, max/min are computed based on data in depth image)
  * @param depthMax fixed maximum range (m) of the depth gradient (if depthMax<=depthMin, max/min are computed based on data in depth image)
  * @return the QImage
@@ -47,7 +47,7 @@ enum uCvQtDepthColorMap{
 inline QImage uCvMat2QImage(
 		const cv::Mat & image,
 		bool isBgr = true,
-		uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack,
+		uCvQtDepthColorMap colorMap = uCvQtDepthBlackToWhite,
 		float depthMin = 0,
 		float depthMax = 0)
 {
@@ -81,9 +81,30 @@ inline QImage uCvMat2QImage(
 		{
 			// mono grayscale
 			qtemp = QImage(image.data, image.cols, image.rows, image.cols, QImage::Format_Indexed8).copy();
+
 			QVector<QRgb> my_table;
-			for(int i = 0; i < 256; i++)
-				my_table.push_back(qRgb(i,i,i));
+			my_table.reserve(256);
+			if(colorMap == uCvQtDepthRedToBlue || colorMap == uCvQtDepthBlueToRed)
+			{
+				if(colorMap == uCvQtDepthBlueToRed) {
+					for(int i = 0; i < 256; i++)
+						my_table.push_back(QColor::fromHsv(255-i, 255, 255, 255).rgb());
+				}
+				else {
+					for(int i = 0; i < 256; i++)
+						my_table.push_back(QColor::fromHsv(i, 255, 255, 255).rgb());
+				}
+			}
+			else if(colorMap == uCvQtDepthBlackToWhite)
+			{
+				for(int i = 0; i < 256; i++)
+					my_table.push_back(qRgb(i,i,i));
+			}
+			else // uCvQtDepthWhiteToBlack
+			{
+				for(int i = 0; i < 256; i++)
+					my_table.push_back(qRgb(255-i,255-i,255-i));
+			}
 			qtemp.setColorTable(my_table);
 		}
 		else

guilib/src/DatabaseViewer.cpp

@@ -427,6 +427,10 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->checkBox_showDisparityInsteadOfRight, SIGNAL(stateChanged(int)), this, SLOT(update3dView()));
 	connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(updateConstraintView()));
 	connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
+	connect(ui_->spinBox_depthConfidence, SIGNAL(valueChanged(int)), this, SLOT(updateConstraintView()));
+	connect(ui_->spinBox_depthConfidence, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
+	connect(ui_->doubleSpinBox_depthEdgeBleedingError, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
+	connect(ui_->doubleSpinBox_depthEdgeBleedingError, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
 	connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
 	connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
 	connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
@@ -457,6 +461,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 	connect(ui_->checkBox_showDisparityInsteadOfRight, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 	connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
+	connect(ui_->spinBox_depthConfidence, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
+	connect(ui_->doubleSpinBox_depthEdgeBleedingError, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -616,6 +622,8 @@ void DatabaseViewer::readSettings()
 	ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
 	ui_->doubleSpinBox_voxelSize->setValue(settings.value("voxelSize", ui_->doubleSpinBox_voxelSize->value()).toDouble());
 	ui_->spinBox_decimation->setValue(settings.value("decimation", ui_->spinBox_decimation->value()).toInt());
+	ui_->spinBox_depthConfidence->setValue(settings.value("depth_confidence_thr", ui_->spinBox_depthConfidence->value()).toInt());
+	ui_->doubleSpinBox_depthEdgeBleedingError->setValue(settings.value("depth_bleeding_error", ui_->doubleSpinBox_depthEdgeBleedingError->value()).toDouble());
 	ui_->checkBox_cameraProjection->setChecked(settings.value("camProj", ui_->checkBox_cameraProjection->isChecked()).toBool());
 	ui_->checkBox_showDisparityInsteadOfRight->setChecked(settings.value("showDisp", ui_->checkBox_showDisparityInsteadOfRight->isChecked()).toBool());
 	settings.endGroup();
@@ -707,6 +715,8 @@ void DatabaseViewer::writeSettings()
 	settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
 	settings.setValue("voxelSize", ui_->doubleSpinBox_voxelSize->value());
 	settings.setValue("decimation", ui_->spinBox_decimation->value());
+	settings.setValue("depth_confidence", ui_->spinBox_depthConfidence->value());
+	settings.setValue("depth_bleeding_error", ui_->doubleSpinBox_depthEdgeBleedingError->value());
 	settings.setValue("camProj", ui_->checkBox_cameraProjection->isChecked());
 	settings.setValue("showDisp", ui_->checkBox_showDisparityInsteadOfRight->isChecked());
 	settings.endGroup();
@@ -801,6 +811,8 @@ void DatabaseViewer::restoreDefaultSettings()
 	ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
 	ui_->doubleSpinBox_voxelSize->setValue(0.0);
 	ui_->spinBox_decimation->setValue(1);
+	ui_->spinBox_depthConfidence->setValue(0);
+	ui_->doubleSpinBox_depthEdgeBleedingError->setValue(0.0);
 	ui_->checkBox_cameraProjection->setChecked(false);
 	ui_->checkBox_showDisparityInsteadOfRight->setChecked(false);
 
@@ -1584,6 +1596,11 @@ void DatabaseViewer::extractImages()
 						dir.mkdir(QString("%1/rgb").arg(path));
 						dir.mkdir(QString("%1/depth").arg(path));
 						dir.mkdir(QString("%1/calib").arg(path));
+						if(!data.depthConfidenceRaw().empty())
+						{
+							dir.mkdir(QString("%1/confidence").arg(path));
+							directoriesCreated = true;
+						}
 						directoriesCreated = true;
 					}
 				}
@@ -1668,7 +1685,14 @@ void DatabaseViewer::extractImages()
 							UWARN("Failed saving \"%s\"", QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
 						if(!cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw()))
 							UWARN("Failed saving \"%s\"", QString("%1/depth/%2.png").arg(path).arg(id).toStdString().c_str());
-						UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
+						if(data.depthConfidenceRaw().empty()) {
+							UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
+						}
+						else {
+							if(!cv::imwrite(QString("%1/confidence/%2.png").arg(path).arg(id).toStdString(), data.depthConfidenceRaw()))
+								UWARN("Failed saving \"%s\"", QString("%1/confidence/%2.png").arg(path).arg(id).toStdString().c_str());
+							UINFO(QString("Saved rgb/%1.%2, depth/%1.png and confidence/%1.png").arg(id).arg(ext).toStdString().c_str());
+						}
 					}
 					else
 					{
@@ -3457,18 +3481,24 @@ void DatabaseViewer::exportOptimizedMesh()
 					path += ".obj";
 				}
 				QString baseName = QFileInfo(path).baseName();
+				UDEBUG("Materials: %d", mesh->tex_materials.size());
 				if(mesh->tex_materials.size() == 1)
 				{
 					mesh->tex_materials.at(0).tex_file = baseName.toStdString() + ".png";
-					cv::imwrite((QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+baseName).toStdString() + ".png", textures);
+					std::string filename = (QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+baseName).toStdString() + ".png";
+					cv::imwrite(filename, textures);
+					UDEBUG("Saved %s", filename.c_str());
 				}
 				else
 				{
+					QDir(QFileInfo(path).absoluteDir().absolutePath()).mkdir(baseName);
 					for(unsigned int i=0; i<mesh->tex_materials.size(); ++i)
 					{
 						mesh->tex_materials.at(i).tex_file = (baseName+QDir::separator()+QString::number(i)+".png").toStdString();
 						UASSERT((i+1)*textures.rows <= (unsigned int)textures.cols);
-						cv::imwrite((QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+baseName+QDir::separator()+QString::number(i)+".png").toStdString(), textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)));
+						std::string filename = (QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+baseName+QDir::separator()+QString::number(i)+".png").toStdString();
+						cv::imwrite(filename, textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)));
+						UDEBUG("Saved %s", filename.c_str());
 					}
 				}
 				pcl::io::saveOBJFile(path.toStdString(), *mesh);
@@ -4807,7 +4837,7 @@ void DatabaseViewer::update(int value,
 
 				if(!imgDepth.empty())
 				{
-					view->setImageDepth(imgDepth);
+					view->setImageDepth(imgDepth, data.depthConfidenceRaw());
 					if(img.isNull())
 					{
 						rect.setWidth(imgDepth.cols);
@@ -5266,6 +5296,12 @@ void DatabaseViewer::update(int value,
 					{
 						if(!data.depthOrRightRaw().empty())
 						{
+							if(!data.depthRaw().empty() && ui_->doubleSpinBox_depthEdgeBleedingError->value() > 0.0) {
+								cv::Mat depth = data.depthRaw();
+								util2d::depthBleedingFiltering(depth, ui_->doubleSpinBox_depthEdgeBleedingError->value());
+								data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
+							}
+
 							if(!data.imageRaw().empty())
 							{
 								std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
@@ -5281,8 +5317,13 @@ void DatabaseViewer::update(int value,
 									pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
 											data.imageRaw(),
 											depth,
+											data.depthConfidenceRaw(),
 											data.cameraModels()[0],
-											ui_->spinBox_decimation->value(),0,0,indices.get());
+											ui_->spinBox_decimation->value(),
+											0,
+											0,
+											(unsigned char)ui_->spinBox_depthConfidence->value(),
+											indices.get());
 									if(indices->size())
 									{
 										clouds.push_back(util3d::transformPointCloud(cloud, data.cameraModels()[0].localTransform()));
@@ -5291,7 +5332,14 @@ void DatabaseViewer::update(int value,
 								}
 								else
 								{
-									clouds = util3d::cloudsRGBFromSensorData(data, ui_->spinBox_decimation->value(), 0, 0, &allIndices, ui_->parameters_toolbox->getParameters());
+									clouds = util3d::cloudsRGBFromSensorData(
+										data, 
+										ui_->spinBox_decimation->value(), 
+										0, 
+										0, 
+										&allIndices, 
+										ui_->parameters_toolbox->getParameters(),std::vector<float>(), 
+										(unsigned char)ui_->spinBox_depthConfidence->value());
 								}
 								UASSERT(clouds.size() == allIndices.size());
 								for(size_t i=0; i<allIndices.size(); ++i)
@@ -5366,7 +5414,14 @@ void DatabaseViewer::update(int value,
 								std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> clouds;
 								std::vector<pcl::IndicesPtr> allIndices;
 
-								clouds = util3d::cloudsFromSensorData(data, ui_->spinBox_decimation->value(), 0, 0, &allIndices, ui_->parameters_toolbox->getParameters());
+								clouds = util3d::cloudsFromSensorData(
+									data, 
+									ui_->spinBox_decimation->value(), 
+									0, 
+									0, 
+									&allIndices, ui_->parameters_toolbox->getParameters(),
+									std::vector<float>(),
+									(unsigned char)ui_->spinBox_depthConfidence->value());
 								UASSERT(clouds.size() == allIndices.size());
 								for(size_t i=0; i<allIndices.size(); ++i)
 								{
@@ -6358,11 +6413,12 @@ void DatabaseViewer::updateConstraintView(
 			ui_->checkBox_showOptimized->setEnabled(true);
 			Transform topt = iterFrom->second.inverse()*iterTo->second;
 			float diff = topt.getDistance(t);
+
 			Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
 			Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
 			float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
 			a = (a *180.0f) / CV_PI;
-			ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((t.getNorm()>0?diff/t.getNorm():0)*100.0f).arg(a));
+			ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3 deg)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((t.getNorm()>0?diff/t.getNorm():0)*100.0f).arg(a));
 
 			if(ui_->checkBox_showOptimized->isChecked())
 			{
@@ -6493,11 +6549,37 @@ void DatabaseViewer::updateConstraintView(
 			pcl::IndicesPtr indicesTo(new std::vector<int>);
 			if(!dataFrom.imageRaw().empty() && !dataFrom.depthOrRightRaw().empty())
 			{
-				cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, ui_->spinBox_decimation->value(), 0, 0, indicesFrom.get(), ui_->parameters_toolbox->getParameters());
+				if(!dataFrom.depthRaw().empty() && ui_->doubleSpinBox_depthEdgeBleedingError->value() > 0.0) {
+					cv::Mat depth = dataFrom.depthRaw();
+					util2d::depthBleedingFiltering(depth, ui_->doubleSpinBox_depthEdgeBleedingError->value());
+					dataFrom.setRGBDImage(dataFrom.imageRaw(), depth, dataFrom.depthConfidenceRaw(), dataFrom.cameraModels());
+				}
+				cloudFrom=util3d::cloudRGBFromSensorData(
+					dataFrom, 
+					ui_->spinBox_decimation->value(),
+					0, 
+					0, 
+					indicesFrom.get(), 
+					ui_->parameters_toolbox->getParameters(),
+					std::vector<float>(),
+					(unsigned char)ui_->spinBox_depthConfidence->value());
 			}
 			if(!dataTo.imageRaw().empty() && !dataTo.depthOrRightRaw().empty())
 			{
-				cloudTo=util3d::cloudRGBFromSensorData(dataTo, ui_->spinBox_decimation->value(), 0, 0, indicesTo.get(), ui_->parameters_toolbox->getParameters());
+				if(!dataTo.depthRaw().empty() && ui_->doubleSpinBox_depthEdgeBleedingError->value() > 0.0) {
+					cv::Mat depth = dataTo.depthRaw();
+					util2d::depthBleedingFiltering(depth, ui_->doubleSpinBox_depthEdgeBleedingError->value());
+					dataTo.setRGBDImage(dataTo.imageRaw(), depth, dataTo.depthConfidenceRaw(), dataTo.cameraModels());
+				}
+				cloudTo=util3d::cloudRGBFromSensorData(
+					dataTo, 
+					ui_->spinBox_decimation->value(), 
+					0, 
+					0, 
+					indicesTo.get(), 
+					ui_->parameters_toolbox->getParameters(),
+					std::vector<float>(),
+					(unsigned char)ui_->spinBox_depthConfidence->value());
 			}
 
 			if(cloudTo.get() && indicesTo->size())

guilib/src/ExportBundlerDialog.cpp

@@ -203,6 +203,7 @@ void ExportBundlerDialog::exportBundler(
 			}
 			if(_ui->sba_iterations->value() > 0)
 			{
+				UINFO("Do BA optimization with %d iterations.", _ui->sba_iterations->value());
 				poses = sba->optimizeBA(
 						posesOut.begin()->first,
 						posesOut,
@@ -210,11 +211,12 @@ void ExportBundlerDialog::exportBundler(
 						signatures.toStdMap(),
 						points3DMap,
 						wordReferences,
-						_ui->sba_rematchFeatures->isChecked());
+						_ui->sba_rematchFeatures->isChecked(),
+						parametersSBA);
 			}
 			else
 			{
-				// do not optimize, just compute 3D features and word correspondences
+				UINFO("Do not optimize, just compute 3D features and word correspondences.");
 				poses = posesOut;
 				sba->computeBACorrespondences(poses,
 					linksOut, 

guilib/src/ExportCloudsDialog.cpp

@@ -151,6 +151,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->lineEdit_distortionModel, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
 	connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(selectDistortionModel()));
 
+	connect(_ui->spinBox_depthConfidence, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_depthEdgeFiltering, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
 	connect(_ui->checkBox_bilateral, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_bilateral, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
 	connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -401,6 +404,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("regenerate_fill_error", _ui->spinBox_fillDepthHolesError->value());
 	settings.setValue("regenerate_roi", _ui->lineEdit_roiRatios->text());
 	settings.setValue("regenerate_distortion_model", _ui->lineEdit_distortionModel->text());
+	settings.setValue("regenerate_min_depth_confidence", _ui->spinBox_depthConfidence->value());
+	settings.setValue("regenerate_edge_bleeding_error", _ui->doubleSpinBox_depthEdgeFiltering->value());
 
 	settings.setValue("bilateral", _ui->checkBox_bilateral->isChecked());
 	settings.setValue("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value());
@@ -584,6 +589,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->spinBox_fillDepthHolesError->setValue(settings.value("regenerate_fill_error", _ui->spinBox_fillDepthHolesError->value()).toInt());
 	_ui->lineEdit_roiRatios->setText(settings.value("regenerate_roi", _ui->lineEdit_roiRatios->text()).toString());
 	_ui->lineEdit_distortionModel->setText(settings.value("regenerate_distortion_model", _ui->lineEdit_distortionModel->text()).toString());
+	_ui->spinBox_depthConfidence->setValue(settings.value("regenerate_min_depth_confidence", _ui->spinBox_depthConfidence->value()).toInt());
+	_ui->doubleSpinBox_depthEdgeFiltering->setValue(settings.value("regenerate_edge_bleeding_error", _ui->doubleSpinBox_depthEdgeFiltering->value()).toDouble());
 
 	_ui->checkBox_bilateral->setChecked(settings.value("bilateral", _ui->checkBox_bilateral->isChecked()).toBool());
 	_ui->doubleSpinBox_bilateral_sigmaS->setValue(settings.value("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()).toDouble());
@@ -770,6 +777,8 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->spinBox_fillDepthHolesError->setValue(2);
 	_ui->lineEdit_roiRatios->setText("0.0 0.0 0.0 0.0");
 	_ui->lineEdit_distortionModel->setText("");
+	_ui->spinBox_depthConfidence->setValue(0);
+	_ui->doubleSpinBox_depthEdgeFiltering->setValue(0.0);
 
 	_ui->checkBox_bilateral->setChecked(false);
 	_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
@@ -3685,20 +3694,30 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 				{
 					const Signature & s = cachedSignatures.find(iter->first).value();
 					data = s.sensorData();
-					cv::Mat image,depth;
+					cv::Mat image,depth,confidence;
 					data.uncompressData(
 							_ui->checkBox_fromDepth->isChecked()?&image:0,
 							_ui->checkBox_fromDepth->isChecked()?&depth:0,
-							!_ui->checkBox_fromDepth->isChecked()?&scan:0);
+							!_ui->checkBox_fromDepth->isChecked()?&scan:0,
+							0,
+							0,
+							0,
+							0,
+							_ui->checkBox_fromDepth->isChecked()?&confidence:0);
 				}
 				else if(_dbDriver)
 				{
-					cv::Mat image,depth;
+					cv::Mat image,depth,confidence;
 					_dbDriver->getNodeData(iter->first, data, _ui->checkBox_fromDepth->isChecked(), !_ui->checkBox_fromDepth->isChecked(), false, false);
 					data.uncompressData(
 							_ui->checkBox_fromDepth->isChecked()?&image:0,
 							_ui->checkBox_fromDepth->isChecked()?&depth:0,
-							!_ui->checkBox_fromDepth->isChecked()?&scan:0);
+							!_ui->checkBox_fromDepth->isChecked()?&scan:0,
+							0,
+							0,
+							0,
+							0,
+							_ui->checkBox_fromDepth->isChecked()?&confidence:0);
 				}
 
 				if(_ui->checkBox_fromDepth->isChecked() && !data.imageRaw().empty() && !data.depthOrRightRaw().empty())
@@ -3719,6 +3738,12 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 						model.undistort(depth);
 					}
 
+					// edge bleeding filter
+					if(!depth.empty() && _ui->doubleSpinBox_depthEdgeFiltering->value()>0.0)
+					{
+						util2d::depthBleedingFiltering(depth, _ui->doubleSpinBox_depthEdgeFiltering->value());
+					}
+
 					// bilateral filtering
 					if(!depth.empty() && _ui->checkBox_bilateral->isChecked())
 					{
@@ -3729,7 +3754,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 
 					if(!depth.empty())
 					{
-						data.setRGBDImage(data.imageRaw(), depth, data.cameraModels());
+						data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
 					}
 
 					UASSERT(iter->first == data.id());
@@ -3754,7 +3779,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 							_ui->doubleSpinBox_minDepth->value(),
 							indices.get(),
 							parameters,
-							roiRatios);
+							roiRatios,
+							(unsigned char)_ui->spinBox_depthConfidence->value());
 
 					if(cloudWithoutNormals->size())
 					{

guilib/src/GraphViewer.cpp

@@ -109,6 +109,10 @@ public:
 		_value = value;
 	}
 
+	void setToolTipInfo(const QString & info) {
+		_info = info;
+	}
+
 	void setRadius(float radius)
 	{
 		float r,p,yaw;
@@ -160,6 +164,10 @@ protected:
 		{
 			msg += QString("\n%1=%2").arg(_valueName).arg(_value);
 		}
+		if(!_info.isEmpty())
+		{
+			msg += QString("\n%1").arg(_info);
+		}
 
 		this->setToolTip(msg);
 		
@@ -181,6 +189,7 @@ private:
 	QGraphicsLineItem * _line;
 	QString _valueName;
 	float _value;
+	QString _info;
 };
 
 class NodeGPSItem: public NodeItem
@@ -522,6 +531,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 		}
 		iter.value()->hide();
 		iter.value()->setColor(color); // reset color
+		iter.value()->setToolTipInfo(QString());
 		iter.value()->setZValue(iter.key()<0?21:20);
 	}
 	for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end(); ++iter)
@@ -558,7 +568,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 				item->setZValue(iter->first<0?21:20);
 				item->setColor(color);
 				item->setParentItem(_graphRoot);
-				item->setVisible(_nodeVisible);
+				item->show();
 				_nodeItems.insert(iter->first, item);
 			}
 		}
@@ -732,6 +742,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 		}
 		else
 		{
+			iter.value()->setVisible(_nodeVisible);
 			++iter;
 		}
 	}
@@ -1166,6 +1177,19 @@ void GraphViewer::setCurrentGoalID(int id, const Transform & pose)
 	}
 }
 
+void GraphViewer::setNodeInfo(int id, const QString & info)
+{
+	NodeItem * node = _nodeItems.value(id, 0);
+	if(node)
+	{
+		node->setToolTipInfo(info);
+	}
+	else
+	{
+		UWARN("Node %d not found in the graph", id);
+	}
+}
+
 void GraphViewer::setLocalRadius(float radius)
 {
 	_localRadius->setRect(-radius*100, -radius*100, radius*200, radius*200);

guilib/src/ImageView.cpp

@@ -181,7 +181,8 @@ ImageView::ImageView(QWidget * parent) :
 		_depthColorMapMinRange(0),
 		_depthColorMapMaxRange(0),
 		_imageItem(0),
-		_imageDepthItem(0)
+		_imageDepthItem(0),
+		_imageDepthConfidenceItem(0)
 {
 #if QT_VERSION >= 0x050000
 	_savedFileName = QStandardPaths::writableLocation(QStandardPaths::PicturesLocation);
@@ -209,9 +210,12 @@ ImageView::ImageView(QWidget * parent) :
 	_showImage = _menu->addAction(tr("Show image"));
 	_showImage->setCheckable(true);
 	_showImage->setChecked(true);
-	_showImageDepth = _menu->addAction(tr("Show image depth"));
+	_showImageDepth = _menu->addAction(tr("Show depth image"));
 	_showImageDepth->setCheckable(true);
 	_showImageDepth->setChecked(false);
+	_showImageDepthConfidence = _menu->addAction(tr("Show depth confidence"));
+	_showImageDepthConfidence->setCheckable(true);
+	_showImageDepthConfidence->setChecked(false);
 	_featureMenu = _menu->addMenu("Features");
 	_showFeatures = _featureMenu->addAction(tr("Show features"));
 	_showFeatures->setCheckable(true);
@@ -293,6 +297,7 @@ void ImageView::saveSettings(QSettings & settings, const QString & group) const
 	}
 	settings.setValue("image_shown", this->isImageShown());
 	settings.setValue("depth_shown", this->isImageDepthShown());
+	settings.setValue("confidence_shown", this->isImageDepthConfidenceShown());
 	settings.setValue("features_shown", this->isFeaturesShown());
 	settings.setValue("features_size", this->getFeaturesSize());
 	settings.setValue("lines_shown", this->isLinesShown());
@@ -322,6 +327,7 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
 	}
 	this->setImageShown(settings.value("image_shown", this->isImageShown()).toBool());
 	this->setImageDepthShown(settings.value("depth_shown", this->isImageDepthShown()).toBool());
+	this->setImageDepthConfidenceShown(settings.value("confidence_shown", this->isImageDepthConfidenceShown()).toBool());
 	this->setFeaturesShown(settings.value("features_shown", this->isFeaturesShown()).toBool());
 	this->setFeaturesSize(settings.value("features_size", this->getFeaturesSize()).toInt());
 	this->setLinesShown(settings.value("lines_shown", this->isLinesShown()).toBool());
@@ -363,6 +369,11 @@ bool ImageView::isImageDepthShown() const
 	return _showImageDepth->isChecked();
 }
 
+bool ImageView::isImageDepthConfidenceShown() const
+{
+	return _showImageDepthConfidence->isChecked();
+}
+
 bool ImageView::isFeaturesShown() const
 {
 	return _showFeatures->isChecked();
@@ -466,6 +477,13 @@ void ImageView::setImageShown(bool shown)
 void ImageView::setImageDepthShown(bool shown)
 {
 	_showImageDepth->setChecked(shown);
+	if(shown)
+	{
+		_showImageDepthConfidence->setChecked(false);
+		if(_imageDepthConfidenceItem) {
+			_imageDepthConfidenceItem->setVisible(false);
+		}
+	}
 	if(_imageDepthItem)
 	{
 		_imageDepthItem->setVisible(_showImageDepth->isChecked());
@@ -478,6 +496,28 @@ void ImageView::setImageDepthShown(bool shown)
 	}
 }
 
+void ImageView::setImageDepthConfidenceShown(bool shown)
+{
+	_showImageDepthConfidence->setChecked(shown);
+	if(shown)
+	{
+		_showImageDepth->setChecked(false);
+		if(_imageDepthItem) {
+			_imageDepthItem->setVisible(false);
+		}
+	}
+	if(_imageDepthConfidenceItem)
+	{
+		_imageDepthConfidenceItem->setVisible(_showImageDepthConfidence->isChecked());
+		this->updateOpacity();
+	}
+
+	if(!_graphicsView->isVisible())
+	{
+		this->update();
+	}
+}
+
 bool ImageView::isLinesShown() const
 {
 	return _showLines->isChecked();
@@ -517,6 +557,8 @@ void ImageView::setGraphicsViewMode(bool on)
 	_graphicsView->setVisible(on);
 	_scaleMenu->setEnabled(on);
 
+	_mouseTracking->setEnabled(!on);
+
 	if(on)
 	{
 		for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
@@ -550,11 +592,20 @@ void ImageView::setGraphicsViewMode(bool on)
 		{
 			_imageDepthItem->setPixmap(_imageDepth);
 		}
-		else
+		else if(!_imageDepth.isNull())
 		{
 			_imageDepthItem = _graphicsView->scene()->addPixmap(_imageDepth);
 			_imageDepthItem->setVisible(_showImageDepth->isChecked());
 		}
+		if(_imageDepthConfidenceItem)
+		{
+			_imageDepthConfidenceItem->setPixmap(_imageDepthConfidence);
+		}
+		else if(!_imageDepthConfidence.isNull())
+		{
+			_imageDepthConfidenceItem = _graphicsView->scene()->addPixmap(_imageDepthConfidence);
+			_imageDepthConfidenceItem->setVisible(_showImageDepthConfidence->isChecked());
+		}
 		this->updateOpacity();
 
 		if(_graphicsViewScaled->isChecked())
@@ -790,7 +841,8 @@ void ImageView::paintEvent(QPaintEvent *event)
 
 			painter.save();
 			if(_showImage->isChecked() && !_image.isNull() &&
-			   _showImageDepth->isChecked() && !_imageDepth.isNull())
+			   ((_showImageDepth->isChecked() && !_imageDepth.isNull()) || 
+			    (_showImageDepthConfidence->isChecked()&&!_imageDepthConfidence.isNull())))
 			{
 				painter.setOpacity(0.5);
 			}
@@ -804,6 +856,10 @@ void ImageView::paintEvent(QPaintEvent *event)
 			{
 				painter.drawPixmap(QPoint(0,0), _imageDepth);
 			}
+			else if(_showImageDepthConfidence->isChecked() && !_imageDepthConfidence.isNull())
+			{
+				painter.drawPixmap(QPoint(0,0), _imageDepthConfidence);
+			}
 			painter.restore();
 
 			if(_showFeatures->isChecked())
@@ -966,6 +1022,11 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 		this->setImageDepthShown(_showImageDepth->isChecked());
 		Q_EMIT configChanged();
 	}
+	else if(action == _showImageDepthConfidence)
+	{
+		this->setImageDepthConfidenceShown(_showImageDepthConfidence->isChecked());
+		Q_EMIT configChanged();
+	}
 	else if(action == _showLines)
 	{
 		this->setLinesShown(_showLines->isChecked());
@@ -988,8 +1049,9 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 	}
 	else if(action == _colorMapBlackToWhite || action == _colorMapWhiteToBlack || action == _colorMapRedToBlue || action == _colorMapBlueToRed)
 	{
-		if(!_imageDepthCv.empty())
-			this->setImageDepth(_imageDepthCv);
+		if(!_imageDepthCv.empty()) {
+			this->setImageDepth(_imageDepthCv, _imageDepthConfidenceCv);
+		}
 		Q_EMIT configChanged();
 	}
 	else if(action == _colorMapMinRange)
@@ -999,8 +1061,9 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 		if(ok)
 		{
 			this->setDepthColorMapRange(value, _depthColorMapMaxRange);
-			if(!_imageDepthCv.empty())
-				this->setImageDepth(_imageDepthCv);
+			if(!_imageDepthCv.empty()) {
+				this->setImageDepth(_imageDepthCv, _imageDepthConfidenceCv);
+			}
 			Q_EMIT configChanged();
 		}
 	}
@@ -1011,8 +1074,9 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 		if(ok)
 		{
 			this->setDepthColorMapRange(_depthColorMapMinRange, value);
-			if(!_imageDepthCv.empty())
-				this->setImageDepth(_imageDepthCv);
+			if(!_imageDepthCv.empty()) {
+				this->setImageDepth(_imageDepthCv, _imageDepthConfidenceCv);
+			}
 			Q_EMIT configChanged();
 		}
 	}
@@ -1047,7 +1111,7 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 		}
 	}
 
-	if(action == _showImage || action ==_showImageDepth)
+	if(action == _showImage || action ==_showImageDepth || action ==_showImageDepthConfidence)
 	{
 		this->updateOpacity();
 		Q_EMIT configChanged();
@@ -1059,17 +1123,16 @@ void ImageView::mouseMoveEvent(QMouseEvent * event)
 	if(_mouseTracking->isChecked() &&
 		!_graphicsView->scene()->sceneRect().isNull() &&
 		!_image.isNull() &&
-		!_imageDepthCv.empty() &&
-		(_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
+		!_imageDepthCv.empty() &&(_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
 	{
 		float scale, offsetX, offsetY;
 		computeScaleOffsets(this->rect(), scale, offsetX, offsetY);
 		float u = (event->pos().x() - offsetX) / scale;
 		float v = (event->pos().y() - offsetY) / scale;
 		float depthScale = 1;
-		if(_image.width() > _imageDepth.width())
+		if(_image.width() > _imageDepthCv.cols)
 		{
-			depthScale = _imageDepth.width() / _image.width();
+			depthScale = float(_imageDepthCv.cols) / float(_image.width());
 		}
 		int ud = int(u*depthScale);
 		int vd = int(v*depthScale);
@@ -1077,33 +1140,47 @@ void ImageView::mouseMoveEvent(QMouseEvent * event)
 			ud < _imageDepthCv.cols &&
 			vd < _imageDepthCv.rows)
 		{
-			float depth = 0;
-			if(_imageDepthCv.type() == CV_32FC1)
+			if( _showImageDepthConfidence->isChecked() &&
+				!_imageDepthConfidenceCv.empty() && 
+				_imageDepthCv.size() == _imageDepthConfidenceCv.size())
 			{
-				depth = _imageDepthCv.at<float>(vd, ud);
+				unsigned char confidence = _imageDepthConfidenceCv.at<unsigned char>(vd, ud);
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+				QToolTip::showText(event->globalPosition().toPoint(), tr("Confidence=%1%").arg(confidence));
+#else
+				QToolTip::showText(event->globalPos(), tr("Confidence=%1%").arg(confidence));
+#endif
 			}
 			else
 			{
-				depth = float(_imageDepthCv.at<unsigned short>(vd, ud)) / 1000.0f;
-			}
+				float depth = 0;
+				if(_imageDepthCv.type() == CV_32FC1)
+				{
+					depth = _imageDepthCv.at<float>(vd, ud);
+				}
+				else
+				{
+					depth = float(_imageDepthCv.at<unsigned short>(vd, ud)) / 1000.0f;
+				}
 
-			cv::Point3f pt(0,0,0);
-			if(depth>0 && !_models.empty() && !_pose.isNull())
-			{
-				int subImageWidth = _imageDepthCv.cols / _models.size();
-				int subImageIndex = ud / subImageWidth;
-				UASSERT(subImageIndex < (int)_models.size());
-				float x,y,z;
-				_models[subImageIndex].project(u, v, depth, x, y, z);
-				pt = cv::Point3f(x,y,z);
-				pt = util3d::transformPoint(pt, _pose*_models[subImageIndex].localTransform());
-			}
+				cv::Point3f pt(0,0,0);
+				if(depth>0 && !_models.empty() && !_pose.isNull())
+				{
+					int subImageWidth = _imageDepthCv.cols / _models.size();
+					int subImageIndex = ud / subImageWidth;
+					UASSERT(subImageIndex < (int)_models.size());
+					float x,y,z;
+					_models[subImageIndex].project(u, v, depth, x, y, z);
+					pt = cv::Point3f(x,y,z);
+					pt = util3d::transformPoint(pt, _pose*_models[subImageIndex].localTransform());
+				}
 
 #if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-			QToolTip::showText(event->globalPosition().toPoint(), pt.x!=0?tr("Depth=%1m Map=(%2,%3,%4)").arg(depth).arg(pt.x).arg(pt.y).arg(pt.z):depth > 0?tr("Depth=%1m").arg(depth):tr("Depth=NA"));
+				QToolTip::showText(event->globalPosition().toPoint(), pt.x!=0?tr("Depth=%1m Map=(%2,%3,%4)").arg(depth).arg(pt.x).arg(pt.y).arg(pt.z):depth > 0?tr("Depth=%1m").arg(depth):tr("Depth=NA"));
 #else
-			QToolTip::showText(event->globalPos(), pt.x!=0?tr("Depth=%1m Map=(%2,%3,%4)").arg(depth).arg(pt.x).arg(pt.y).arg(pt.z):depth > 0?tr("Depth=%1m").arg(depth):tr("Depth=NA"));
+				QToolTip::showText(event->globalPos(), pt.x!=0?tr("Depth=%1m Map=(%2,%3,%4)").arg(depth).arg(pt.x).arg(pt.y).arg(pt.z):depth > 0?tr("Depth=%1m").arg(depth):tr("Depth=NA"));
 #endif
+			}
 		}
 		else
 		{
@@ -1115,23 +1192,31 @@ void ImageView::mouseMoveEvent(QMouseEvent * event)
 
 void ImageView::updateOpacity()
 {
-	if(_imageItem && _imageDepthItem)
+	if(_imageItem && (_imageDepthItem || _imageDepthConfidenceItem))
 	{
-		if(_imageItem->isVisible() && _imageDepthItem->isVisible())
+		if(_imageItem->isVisible() && 
+			((_imageDepthItem && _imageDepthItem->isVisible()) || 
+			 (_imageDepthConfidenceItem && _imageDepthConfidenceItem->isVisible())))
 		{
-			QGraphicsOpacityEffect * effect = new QGraphicsOpacityEffect();
-			effect->setOpacity(0.5);
-			_imageDepthItem->setGraphicsEffect(effect);
-		}
-		else
-		{
-			_imageDepthItem->setGraphicsEffect(0);
+			if(_imageDepthItem) {
+				QGraphicsOpacityEffect * effect = new QGraphicsOpacityEffect();
+				effect->setOpacity(0.5);
+				_imageDepthItem->setGraphicsEffect(effect);
+			}
+			if(_imageDepthConfidenceItem) {
+				QGraphicsOpacityEffect * effect = new QGraphicsOpacityEffect();
+				effect->setOpacity(0.5);
+				_imageDepthConfidenceItem->setGraphicsEffect(effect);
+			}
+			return;
 		}
 	}
-	else if(_imageDepthItem)
-	{
+	if(_imageDepthItem) {
 		_imageDepthItem->setGraphicsEffect(0);
 	}
+	if(_imageDepthConfidenceItem) {
+		_imageDepthConfidenceItem->setGraphicsEffect(0);
+	}
 }
 
 void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth, const QColor & color)
@@ -1261,15 +1346,23 @@ void ImageView::setImage(const QImage & image, const std::vector<CameraModel> &
 	}
 }
 
-void ImageView::setImageDepth(const cv::Mat & imageDepth)
+void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageDepthConfidence)
 {
 	_imageDepthCv = imageDepth;
-	setImageDepth(uCvMat2QImage(_imageDepthCv, true, getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange));
+	_imageDepthConfidenceCv = imageDepthConfidence;
+	setImageDepth(
+		uCvMat2QImage(_imageDepthCv, true, getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange),
+		uCvMat2QImage(_imageDepthConfidenceCv, true, getDepthColorMap()));
 }
 
-void ImageView::setImageDepth(const QImage & imageDepth)
+void ImageView::setImageDepth(const QImage & imageDepth, const QImage & imageDepthConfidence)
 {
 	_imageDepth = QPixmap::fromImage(imageDepth);
+	if(!imageDepthConfidence.isNull()) {
+		_imageDepthConfidence = QPixmap::fromImage(imageDepthConfidence);
+	} else {
+		_showImageDepthConfidence->setChecked(false);
+	}
 
 	UASSERT(_imageDepth.width() && _imageDepth.height());
 
@@ -1279,6 +1372,9 @@ void ImageView::setImageDepth(const QImage & imageDepth)
 	{
 		// scale depth to rgb
 		_imageDepth = _imageDepth.scaled(_image.size());
+		if(!_imageDepthConfidence.isNull()) {
+			_imageDepthConfidence = _imageDepthConfidence.scaled(_image.size());
+		}
 	}
 
 	if(_graphicsView->isVisible())
@@ -1286,11 +1382,18 @@ void ImageView::setImageDepth(const QImage & imageDepth)
 		if(_imageDepthItem)
 		{
 			_imageDepthItem->setPixmap(_imageDepth);
+			if(_imageDepthConfidenceItem) {
+				_imageDepthConfidenceItem->setPixmap(_imageDepthConfidence);
+			}
 		}
 		else
 		{
 			_imageDepthItem = _graphicsView->scene()->addPixmap(_imageDepth);
 			_imageDepthItem->setVisible(_showImageDepth->isChecked());
+			if(!_imageDepthConfidence.isNull()) {
+				_imageDepthConfidenceItem = _graphicsView->scene()->addPixmap(_imageDepthConfidence);
+				_imageDepthConfidenceItem->setVisible(_showImageDepthConfidence->isChecked());
+			}
 			this->updateOpacity();
 		}
 	}
@@ -1471,6 +1574,12 @@ void ImageView::clear()
 		delete _imageDepthItem;
 		_imageDepthItem = 0;
 	}
+	if(_imageDepthConfidenceItem)
+	{
+		_graphicsView->scene()->removeItem(_imageDepthConfidenceItem);
+		delete _imageDepthConfidenceItem;
+		_imageDepthConfidenceItem = 0;
+	}
 	_imageDepth = QPixmap();
 
 	_graphicsView->scene()->setSceneRect(QRectF());

guilib/src/MainWindow.cpp

@@ -1225,13 +1225,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
 				pcl::IndicesPtr indices(new std::vector<int>);
 
-				cloud = util3d::cloudRGBFromSensorData(*data,
+				cloud = util3d::cloudRGBFromSensorData(
+						*data,
 						_preferencesDialog->getCloudDecimation(1),
 						_preferencesDialog->getCloudMaxDepth(1),
 						_preferencesDialog->getCloudMinDepth(1),
 						indices.get(),
 						_preferencesDialog->getAllParameters(),
-						_preferencesDialog->getCloudRoiRatios(1));
+						_preferencesDialog->getCloudRoiRatios(1),
+						_preferencesDialog->getCloudConfidenceThr(1));
 				if(indices->size())
 				{
 					cloud = util3d::transformPointCloud(cloud, pose);
@@ -1717,7 +1719,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 			_ui->imageView_odometry->setImage(uCvMat2QImage(data->imageRaw()));
 			if(_ui->imageView_odometry->isImageDepthShown() && !data->depthOrRightRaw().empty())
 			{
-				_ui->imageView_odometry->setImageDepth(data->depthOrRightRaw());
+				_ui->imageView_odometry->setImageDepth(data->depthOrRightRaw(), data->depthConfidenceRaw());
 			}
 
 			if( odom.info().type == (int)Odometry::kTypeF2M ||
@@ -1908,9 +1910,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 		{
 			if(!odomT.isNull())
 			{
-				rtabmap::Transform diff = odom.info().transformGroundTruth.inverse()*odomT;
-				_ui->statsToolBox->updateStat("Odometry/TG_error_lin/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), diff.getNorm(), _preferencesDialog->isCacheSavedInFigures());
-				_ui->statsToolBox->updateStat("Odometry/TG_error_ang/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), diff.getAngle()*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
+				_ui->statsToolBox->updateStat("Odometry/TG_error_lin/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().transformGroundTruth.getDistance(odomT), _preferencesDialog->isCacheSavedInFigures());
+				_ui->statsToolBox->updateStat("Odometry/TG_error_ang/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().transformGroundTruth.getAngle(odomT)*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
 			}
 
 			odom.info().transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
@@ -2343,7 +2344,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				}
 				if(!signature.sensorData().depthOrRightRaw().empty())
 				{
-					_ui->imageView_source->setImageDepth(signature.sensorData().depthOrRightRaw());
+					_ui->imageView_source->setImageDepth(signature.sensorData().depthOrRightRaw(), signature.sensorData().depthConfidenceRaw());
 				}
 				if(img.isNull() && signature.sensorData().depthOrRightRaw().empty())
 				{
@@ -2375,7 +2376,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				}
 				if(!loopSignature.sensorData().depthOrRightRaw().empty())
 				{
-					_ui->imageView_loopClosure->setImageDepth(loopSignature.sensorData().depthOrRightRaw());
+					_ui->imageView_loopClosure->setImageDepth(loopSignature.sensorData().depthOrRightRaw(), loopSignature.sensorData().depthConfidenceRaw());
 				}
 				if(_ui->imageView_loopClosure->sceneRect().isNull())
 				{
@@ -3718,7 +3719,8 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
 				_preferencesDialog->getCloudMinDepth(0),
 				indices.get(),
 				allParameters,
-				_preferencesDialog->getCloudRoiRatios(0));
+				_preferencesDialog->getCloudRoiRatios(0),
+				_preferencesDialog->getCloudConfidenceThr(0));
 
 		// view point
 		Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
@@ -8187,6 +8189,12 @@ void MainWindow::exportImages()
 							QDir dir;
 							dir.mkdir(QString("%1/rgb").arg(path));
 							dir.mkdir(QString("%1/depth").arg(path));
+
+							if(!data.depthConfidenceRaw().empty())
+							{
+								QDir dir;
+								dir.mkdir(QString("%1/confidence").arg(path));
+							}
 						}
 
 						if(data.cameraModels().size() > 1)
@@ -8245,7 +8253,14 @@ void MainWindow::exportImages()
 					UWARN("Failed saving \"%s\"", QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
 				if(!cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw()))
 					UWARN("Failed saving \"%s\"", QString("%1/depth/%2.png").arg(path).arg(id).toStdString().c_str());
-				info = tr("Saved rgb/%1.%2 and depth/%1.png.").arg(id).arg(ext);
+				if(data.depthConfidenceRaw().empty()) {
+					info = tr("Saved rgb/%1.%2 and depth/%1.png.").arg(id).arg(ext);
+				}
+				else {
+					if(!cv::imwrite(QString("%1/confidence/%2.png").arg(path).arg(id).toStdString(), data.depthConfidenceRaw()))
+						UWARN("Failed saving \"%s\"", QString("%1/confidence/%2.png").arg(path).arg(id).toStdString().c_str());
+					info = tr("Saved rgb/%1.%2, depth/%1.png and confidence/%1.png.").arg(id).arg(ext);
+				}
 			}
 			else if(!data.imageRaw().empty())
 			{

guilib/src/PreferencesDialog.cpp

@@ -551,6 +551,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_3dRenderingRoiRatios[0] = _ui->lineEdit_roiRatios;
 	_3dRenderingRoiRatios[1] = _ui->lineEdit_roiRatios_odom;
 
+	_3dRenderingDepthConfidenceThr.resize(2);
+	_3dRenderingDepthConfidenceThr[0] = _ui->spinBox_depthConf;
+	_3dRenderingDepthConfidenceThr[1] = _ui->spinBox_depthConf_odom;
+
 	_3dRenderingColorScheme.resize(2);
 	_3dRenderingColorScheme[0] = _ui->spinBox_colorScheme;
 	_3dRenderingColorScheme[1] = _ui->spinBox_colorScheme_odom;
@@ -622,6 +626,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingMinDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingRoiRatios[i], SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+		connect(_3dRenderingDepthConfidenceThr[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowFrustums[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -2030,6 +2035,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 			_3dRenderingMaxDepth[i]->setValue(0.0);
 			_3dRenderingMinDepth[i]->setValue(0.0);
 			_3dRenderingRoiRatios[i]->setText("0.0 0.0 0.0 0.0");
+			_3dRenderingDepthConfidenceThr[i]->setValue(0);
 			_3dRenderingShowScans[i]->setChecked(true);
 			_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
 			_3dRenderingShowFrustums[i]->setChecked(false);
@@ -2548,6 +2554,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 		_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
 		_3dRenderingMinDepth[i]->setValue(settings.value(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value()).toDouble());
 		_3dRenderingRoiRatios[i]->setText(settings.value(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text()).toString());
+		_3dRenderingDepthConfidenceThr[i]->setValue(settings.value(QString("depthConf%1").arg(i), _3dRenderingDepthConfidenceThr[i]->value()).toInt());
 		_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
 		_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
 		_3dRenderingShowFrustums[i]->setChecked(settings.value(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked()).toBool());
@@ -3156,6 +3163,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 		settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
 		settings.setValue(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value());
 		settings.setValue(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text());
+		settings.setValue(QString("depthConf%1").arg(i), _3dRenderingDepthConfidenceThr[i]->value());
 		settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
 		settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
 		settings.setValue(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked());
@@ -6105,6 +6113,11 @@ std::vector<float> PreferencesDialog::getCloudRoiRatios(int index) const
 	}
 	return roiRatios;
 }
+unsigned char PreferencesDialog::getCloudConfidenceThr(int index) const
+{
+	UASSERT(index >= 0 && index <= 1);
+	return (unsigned char)_3dRenderingDepthConfidenceThr[index]->value();
+}
 int PreferencesDialog::getCloudColorScheme(int index) const
 {
 	UASSERT(index >= 0 && index <= 1);

guilib/src/ui/DatabaseViewer.ui

@@ -61,7 +61,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>419</width>
+           <width>307</width>
            <height>389</height>
           </rect>
          </property>
@@ -392,7 +392,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>418</width>
+           <width>306</width>
            <height>389</height>
           </rect>
          </property>
@@ -1643,7 +1643,7 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>2</number>
+        <number>1</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
@@ -1805,9 +1805,9 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
-          <width>276</width>
-          <height>1201</height>
+          <y>-316</y>
+          <width>518</width>
+          <height>1071</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1816,24 +1816,57 @@
         <layout class="QVBoxLayout" name="verticalLayout_16">
          <item>
           <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0">
-           <item row="6" column="1">
-            <widget class="QLabel" name="label_53">
+           <item row="3" column="1">
+            <widget class="QLabel" name="label_octomap_empty_3">
              <property name="text">
-              <string>OctoMap</string>
-             </property>
-            </widget>
-           </item>
-           <item row="15" column="1">
-            <widget class="QLabel" name="label_57">
-             <property name="text">
-              <string>Crop radius when filtering empty space from 2d occupancy grid.</string>
+              <string>Ground cell color</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="15" column="0">
+           <item row="14" column="1">
+            <widget class="QLabel" name="label_61">
+             <property name="text">
+              <string>Minimum depth confidence.</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="18" column="1">
+            <widget class="QLabel" name="label_59">
+             <property name="text">
+              <string>Show probabilistic occupancy grid in Graph View.</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="11" column="0">
+            <widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="0">
+            <widget class="QCheckBox" name="checkBox_grid_empty">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="17" column="0">
             <widget class="QSpinBox" name="spinBox_cropRadius">
              <property name="suffix">
               <string> pixels</string>
@@ -1843,13 +1876,13 @@
              </property>
             </widget>
            </item>
-           <item row="16" column="0">
-            <widget class="QCheckBox" name="checkBox_grid_showProbMap">
+           <item row="20" column="1">
+            <widget class="QLabel" name="label_logger_level_2">
              <property name="text">
-              <string/>
+              <string>For stereo data, show disparity instead of right image in main views.</string>
              </property>
-             <property name="checked">
-              <bool>false</bool>
+             <property name="wordWrap">
+              <bool>true</bool>
              </property>
             </widget>
            </item>
@@ -1869,33 +1902,17 @@
              </property>
             </widget>
            </item>
-           <item row="10" column="0">
-            <widget class="QSpinBox" name="spinBox_grid_depth">
-             <property name="prefix">
-              <string/>
-             </property>
-             <property name="minimum">
-              <number>0</number>
-             </property>
-             <property name="maximum">
-              <number>16</number>
-             </property>
-             <property name="value">
-              <number>16</number>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_9">
+           <item row="5" column="0">
+            <layout class="QHBoxLayout" name="horizontalLayout_17">
              <item>
-              <widget class="QToolButton" name="toolButton_groundColor">
+              <widget class="QToolButton" name="toolButton_frontierColor">
                <property name="text">
                 <string>...</string>
                </property>
               </widget>
              </item>
              <item>
-              <widget class="QLineEdit" name="lineEdit_groundColor">
+              <widget class="QLineEdit" name="lineEdit_frontierColor">
                <property name="readOnly">
                 <bool>true</bool>
                </property>
@@ -1903,18 +1920,18 @@
              </item>
             </layout>
            </item>
-           <item row="9" column="1">
-            <widget class="QLabel" name="label_octomap_cubes">
+           <item row="17" column="1">
+            <widget class="QLabel" name="label_57">
              <property name="text">
-              <string>OctoMap: Rendering type</string>
+              <string>Crop radius when filtering empty space from 2d occupancy grid.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="1" column="0">
-            <widget class="QCheckBox" name="checkBox_grid_frontiers">
+           <item row="18" column="0">
+            <widget class="QCheckBox" name="checkBox_grid_showProbMap">
              <property name="text">
               <string/>
              </property>
@@ -1923,10 +1940,20 @@
              </property>
             </widget>
            </item>
-           <item row="14" column="1">
-            <widget class="QLabel" name="label_54">
+           <item row="19" column="1">
+            <widget class="QLabel" name="label_60">
              <property name="text">
-              <string>Voxel size (for clouds and scans)</string>
+              <string>Create RGB-D cloud from RGB projection on scan.</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="11" column="1">
+            <widget class="QLabel" name="label_55">
+             <property name="text">
+              <string>Local grid: regenerate from saved grid instead of sensors</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
@@ -1943,20 +1970,13 @@
              </property>
             </widget>
            </item>
-           <item row="11" column="0">
-            <widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
+           <item row="9" column="1">
+            <widget class="QLabel" name="label_octomap_cubes">
              <property name="text">
-              <string/>
+              <string>OctoMap: Rendering type</string>
              </property>
-             <property name="checked">
-              <bool>false</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="6" column="0">
-            <widget class="QCheckBox" name="checkBox_octomap">
-             <property name="text">
-              <string/>
+             <property name="wordWrap">
+              <bool>true</bool>
              </property>
             </widget>
            </item>
@@ -1980,8 +2000,8 @@
              </property>
             </widget>
            </item>
-           <item row="18" column="0">
-            <widget class="QCheckBox" name="checkBox_showDisparityInsteadOfRight">
+           <item row="1" column="0">
+            <widget class="QCheckBox" name="checkBox_grid_frontiers">
              <property name="text">
               <string/>
              </property>
@@ -1990,105 +2010,7 @@
              </property>
             </widget>
            </item>
-           <item row="16" column="1">
-            <widget class="QLabel" name="label_59">
-             <property name="text">
-              <string>Show probabilistic occupancy grid in Graph View.</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="18" column="1">
-            <widget class="QLabel" name="label_logger_level_2">
-             <property name="text">
-              <string>For stereo data, show disparity instead of right image in main views.</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="1">
-            <widget class="QLabel" name="label_octomap_empty_3">
-             <property name="text">
-              <string>Ground cell color</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="12" column="0">
-            <widget class="QDoubleSpinBox" name="doubleSpinBox_gainCompensationRadius">
-             <property name="suffix">
-              <string> m</string>
-             </property>
-             <property name="decimals">
-              <number>2</number>
-             </property>
-             <property name="minimum">
-              <double>0.000000000000000</double>
-             </property>
-             <property name="maximum">
-              <double>10.000000000000000</double>
-             </property>
-             <property name="singleStep">
-              <double>0.010000000000000</double>
-             </property>
-             <property name="value">
-              <double>0.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="4" column="1">
-            <widget class="QLabel" name="label_octomap_empty_4">
-             <property name="text">
-              <string>Empty cell color</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="4" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_12">
-             <item>
-              <widget class="QToolButton" name="toolButton_emptyColor">
-               <property name="text">
-                <string>...</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="lineEdit_emptyColor">
-               <property name="readOnly">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
-           <item row="2" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_11">
-             <item>
-              <widget class="QToolButton" name="toolButton_obstacleColor">
-               <property name="text">
-                <string>...</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLineEdit" name="lineEdit_obstacleColor">
-               <property name="readOnly">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
-           <item row="17" column="0">
+           <item row="19" column="0">
             <widget class="QCheckBox" name="checkBox_cameraProjection">
              <property name="text">
               <string/>
@@ -2098,20 +2020,10 @@
              </property>
             </widget>
            </item>
-           <item row="0" column="0">
-            <widget class="QCheckBox" name="checkBox_grid_empty">
+           <item row="0" column="1">
+            <widget class="QLabel" name="label_octomap_empty">
              <property name="text">
-              <string/>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="11" column="1">
-            <widget class="QLabel" name="label_55">
-             <property name="text">
-              <string>Local grid: regenerate from saved grid instead of sensors</string>
+              <string>Show empty space</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
@@ -2128,20 +2040,17 @@
              </property>
             </widget>
            </item>
-           <item row="17" column="1">
-            <widget class="QLabel" name="label_60">
+           <item row="6" column="1">
+            <widget class="QLabel" name="label_53">
              <property name="text">
-              <string>Create RGB-D cloud from RGB projection on scan.</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
+              <string>OctoMap</string>
              </property>
             </widget>
            </item>
-           <item row="0" column="1">
-            <widget class="QLabel" name="label_octomap_empty">
+           <item row="16" column="1">
+            <widget class="QLabel" name="label_54">
              <property name="text">
-              <string>Show empty space</string>
+              <string>Voxel size (for clouds and scans)</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
@@ -2167,6 +2076,64 @@
              </item>
             </widget>
            </item>
+           <item row="10" column="0">
+            <widget class="QSpinBox" name="spinBox_grid_depth">
+             <property name="prefix">
+              <string/>
+             </property>
+             <property name="minimum">
+              <number>0</number>
+             </property>
+             <property name="maximum">
+              <number>16</number>
+             </property>
+             <property name="value">
+              <number>16</number>
+             </property>
+            </widget>
+           </item>
+           <item row="12" column="0">
+            <widget class="QDoubleSpinBox" name="doubleSpinBox_gainCompensationRadius">
+             <property name="suffix">
+              <string> m</string>
+             </property>
+             <property name="decimals">
+              <number>2</number>
+             </property>
+             <property name="minimum">
+              <double>0.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>0.010000000000000</double>
+             </property>
+             <property name="value">
+              <double>0.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item row="5" column="1">
+            <widget class="QLabel" name="label_octomap_frontiers_3">
+             <property name="text">
+              <string>Frontier cell color</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="4" column="1">
+            <widget class="QLabel" name="label_octomap_empty_4">
+             <property name="text">
+              <string>Empty cell color</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
            <item row="13" column="1">
             <widget class="QLabel" name="label_56">
              <property name="text">
@@ -2177,7 +2144,32 @@
              </property>
             </widget>
            </item>
-           <item row="14" column="0">
+           <item row="6" column="0">
+            <widget class="QCheckBox" name="checkBox_octomap">
+             <property name="text">
+              <string/>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="0">
+            <layout class="QHBoxLayout" name="horizontalLayout_9">
+             <item>
+              <widget class="QToolButton" name="toolButton_groundColor">
+               <property name="text">
+                <string>...</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLineEdit" name="lineEdit_groundColor">
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+           <item row="16" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
              <property name="suffix">
               <string> m</string>
@@ -2199,27 +2191,17 @@
              </property>
             </widget>
            </item>
-           <item row="5" column="1">
-            <widget class="QLabel" name="label_octomap_frontiers_3">
-             <property name="text">
-              <string>Frontier cell color</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="5" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_17">
+           <item row="2" column="0">
+            <layout class="QHBoxLayout" name="horizontalLayout_11">
              <item>
-              <widget class="QToolButton" name="toolButton_frontierColor">
+              <widget class="QToolButton" name="toolButton_obstacleColor">
                <property name="text">
                 <string>...</string>
                </property>
               </widget>
              </item>
              <item>
-              <widget class="QLineEdit" name="lineEdit_frontierColor">
+              <widget class="QLineEdit" name="lineEdit_obstacleColor">
                <property name="readOnly">
                 <bool>true</bool>
                </property>
@@ -2227,6 +2209,82 @@
              </item>
             </layout>
            </item>
+           <item row="20" column="0">
+            <widget class="QCheckBox" name="checkBox_showDisparityInsteadOfRight">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="4" column="0">
+            <layout class="QHBoxLayout" name="horizontalLayout_12">
+             <item>
+              <widget class="QToolButton" name="toolButton_emptyColor">
+               <property name="text">
+                <string>...</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLineEdit" name="lineEdit_emptyColor">
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+           <item row="15" column="1">
+            <widget class="QLabel" name="label_62">
+             <property name="text">
+              <string>Depth's edge bleeding filtering error.</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="15" column="0">
+            <widget class="QDoubleSpinBox" name="doubleSpinBox_depthEdgeBleedingError">
+             <property name="suffix">
+              <string> m</string>
+             </property>
+             <property name="decimals">
+              <number>2</number>
+             </property>
+             <property name="minimum">
+              <double>0.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>0.010000000000000</double>
+             </property>
+             <property name="value">
+              <double>0.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item row="14" column="0">
+            <widget class="QSpinBox" name="spinBox_depthConfidence">
+             <property name="suffix">
+              <string> %</string>
+             </property>
+             <property name="minimum">
+              <number>0</number>
+             </property>
+             <property name="maximum">
+              <number>100</number>
+             </property>
+             <property name="value">
+              <number>0</number>
+             </property>
+            </widget>
+           </item>
           </layout>
          </item>
          <item>
@@ -2468,7 +2526,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>294</width>
+          <width>296</width>
           <height>272</height>
          </rect>
         </property>
@@ -2642,8 +2700,8 @@
          <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/exportCloudsDialog.ui

@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>-2495</y>
+        <y>-654</y>
         <width>861</width>
-        <height>6426</height>
+        <height>6498</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -710,6 +710,26 @@
          <layout class="QVBoxLayout" name="verticalLayout_14">
           <item>
            <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
+            <item row="3" column="1">
+             <widget class="QLineEdit" name="lineEdit_roiRatios"/>
+            </item>
+            <item row="2" column="2">
+             <widget class="QLabel" name="label_133">
+              <property name="text">
+               <string>3D cloud minimum depth.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QSpinBox" name="spinBox_fillDepthHolesError">
+              <property name="suffix">
+               <string> %</string>
+              </property>
+             </widget>
+            </item>
             <item row="6" column="2">
              <widget class="QLabel" name="label_134">
               <property name="text">
@@ -720,13 +740,10 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="2">
-             <widget class="QLabel" name="label_135">
-              <property name="text">
-               <string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
+            <item row="4" column="1">
+             <widget class="QSpinBox" name="spinBox_fillDepthHoles">
+              <property name="suffix">
+               <string> pixels</string>
               </property>
              </widget>
             </item>
@@ -749,21 +766,18 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="2">
-             <widget class="QLabel" name="label_198">
+            <item row="3" column="2">
+             <widget class="QLabel" name="label_135">
               <property name="text">
-               <string>Fill depth hole error.</string>
+               <string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
              </widget>
             </item>
-            <item row="3" column="1">
-             <widget class="QLineEdit" name="lineEdit_roiRatios"/>
+            <item row="6" column="1">
+             <widget class="QLineEdit" name="lineEdit_distortionModel"/>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
@@ -794,39 +808,6 @@
               </property>
              </widget>
             </item>
-            <item row="8" column="1">
-             <widget class="QCheckBox" name="checkBox_subtraction">
-              <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="6" column="1">
-             <widget class="QLineEdit" name="lineEdit_distortionModel"/>
-            </item>
-            <item row="8" column="2">
-             <widget class="QLabel" name="label_137">
-              <property name="text">
-               <string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="2">
-             <widget class="QLabel" name="label_197">
-              <property name="text">
-               <string>Fill depth hole size (0 means no fill).</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-              <property name="textInteractionFlags">
-               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-              </property>
-             </widget>
-            </item>
             <item row="1" column="2">
              <widget class="QLabel" name="label_132">
               <property name="text">
@@ -850,13 +831,6 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="1">
-             <widget class="QSpinBox" name="spinBox_fillDepthHolesError">
-              <property name="suffix">
-               <string> %</string>
-              </property>
-             </widget>
-            </item>
             <item row="6" column="0">
              <widget class="QToolButton" name="toolButton_distortionModel">
               <property name="text">
@@ -864,24 +838,57 @@
               </property>
              </widget>
             </item>
-            <item row="7" column="1">
-             <widget class="QCheckBox" name="checkBox_bilateral">
+            <item row="10" column="2">
+             <widget class="QLabel" name="label_137">
               <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QLabel" name="label_133">
-              <property name="text">
-               <string>3D cloud minimum depth.</string>
+               <string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
-            <item row="7" column="2">
+            <item row="5" column="2">
+             <widget class="QLabel" name="label_198">
+              <property name="text">
+               <string>Fill depth hole error.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+              <property name="textInteractionFlags">
+               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+              </property>
+             </widget>
+            </item>
+            <item row="10" column="1">
+             <widget class="QCheckBox" name="checkBox_subtraction">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="1">
+             <widget class="QCheckBox" name="checkBox_bilateral">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="2">
+             <widget class="QLabel" name="label_197">
+              <property name="text">
+               <string>Fill depth hole size (0 means no fill).</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+              <property name="textInteractionFlags">
+               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="2">
              <widget class="QLabel" name="label_136">
               <property name="text">
                <string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
@@ -891,10 +898,52 @@
               </property>
              </widget>
             </item>
-            <item row="4" column="1">
-             <widget class="QSpinBox" name="spinBox_fillDepthHoles">
+            <item row="7" column="2">
+             <widget class="QLabel" name="label_147">
+              <property name="text">
+               <string>Depth's edge bleeding filter error (0 means disabled). Reduce depth noise around edges.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="1">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_depthEdgeFiltering">
               <property name="suffix">
-               <string> pixels</string>
+               <string> m</string>
+              </property>
+              <property name="decimals">
+               <number>2</number>
+              </property>
+              <property name="maximum">
+               <double>100.000000000000000</double>
+              </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
+              <property name="value">
+               <double>4.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="9" column="2">
+             <widget class="QLabel" name="label_149">
+              <property name="text">
+               <string>Minimum depth confidence: 0% is low confidence, 100% is high confidence. Ignored if no depth confidence images were recorded or if set to 0%.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="9" column="1">
+             <widget class="QSpinBox" name="spinBox_depthConfidence">
+              <property name="suffix">
+               <string> %</string>
+              </property>
+              <property name="maximum">
+               <number>100</number>
               </property>
              </widget>
             </item>

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-659</y>
+            <y>0</y>
             <width>713</width>
             <height>4705</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>12</number>
+                <number>1</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -750,96 +750,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
                       <layout class="QVBoxLayout" name="verticalLayout_112">
                        <item>
                         <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
-                         <item row="5" column="0">
-                          <widget class="QLineEdit" name="lineEdit_roiRatios"/>
-                         </item>
-                         <item row="15" column="0">
-                          <widget class="QSpinBox" name="spinBox_ptsize">
-                           <property name="minimum">
-                            <number>1</number>
-                           </property>
-                           <property name="maximum">
-                            <number>64</number>
-                           </property>
-                           <property name="value">
-                            <number>2</number>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="10" column="2">
-                          <widget class="QLabel" name="label_355">
-                           <property name="text">
-                            <string>Floor filtering height (0=Disabled). This is done in /map frame.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="8" column="2">
-                          <widget class="QLabel" name="label_169">
-                           <property name="text">
-                            <string>Noise filtering min neighbors.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="12" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
-                           <property name="singleStep">
-                            <double>0.010000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="13" column="2">
-                          <widget class="QLabel" name="label_459">
-                           <property name="text">
-                            <string>Default color scheme key.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="13" column="1">
-                          <widget class="QSpinBox" name="spinBox_colorScheme_odom"/>
-                         </item>
-                         <item row="13" column="0">
-                          <widget class="QSpinBox" name="spinBox_colorScheme"/>
-                         </item>
-                         <item row="3" column="1">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
-                           <property name="suffix">
-                            <string> m</string>
-                           </property>
-                           <property name="decimals">
-                            <number>1</number>
-                           </property>
-                           <property name="maximum">
-                            <double>100.000000000000000</double>
-                           </property>
-                           <property name="singleStep">
-                            <double>0.100000000000000</double>
-                           </property>
-                           <property name="value">
-                            <double>0.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="5" column="1">
-                          <widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
-                         </item>
                          <item row="0" column="0">
                           <widget class="QLabel" name="label_154">
                            <property name="text">
@@ -853,157 +763,24 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="0" column="1">
-                          <widget class="QLabel" name="label_137">
-                           <property name="text">
-                            <string>Odometry</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="1" column="0">
-                          <widget class="QCheckBox" name="checkBox_showClouds">
-                           <property name="text">
-                            <string/>
-                           </property>
-                           <property name="checked">
-                            <bool>true</bool>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="1" column="1">
-                          <widget class="QCheckBox" name="checkBox_showOdomClouds">
-                           <property name="text">
-                            <string/>
-                           </property>
-                           <property name="checked">
-                            <bool>true</bool>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="1" column="2">
-                          <widget class="QLabel" name="label_119">
-                           <property name="text">
-                            <string>Show 3D clouds.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="2" column="1">
-                          <widget class="QSpinBox" name="spinBox_decimation_odom">
+                         <item row="9" column="0">
+                          <widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
                            <property name="minimum">
-                            <number>-32</number>
-                           </property>
-                           <property name="maximum">
-                            <number>32</number>
-                           </property>
-                           <property name="value">
                             <number>1</number>
                            </property>
-                          </widget>
-                         </item>
-                         <item row="2" column="2">
-                          <widget class="QLabel" name="label_108">
-                           <property name="text">
-                            <string>Decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="14" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
-                           <property name="suffix">
-                            <string/>
-                           </property>
-                           <property name="decimals">
-                            <number>2</number>
-                           </property>
                            <property name="maximum">
-                            <double>1.000000000000000</double>
-                           </property>
-                           <property name="singleStep">
-                            <double>0.100000000000000</double>
+                            <number>1000</number>
                            </property>
                            <property name="value">
-                            <double>1.000000000000000</double>
+                            <number>5</number>
                            </property>
                           </widget>
                          </item>
-                         <item row="14" column="2">
-                          <widget class="QLabel" name="label_155">
-                           <property name="text">
-                            <string>Opacity.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
+                         <item row="5" column="0">
+                          <widget class="QLineEdit" name="lineEdit_roiRatios"/>
                          </item>
-                         <item row="15" column="2">
-                          <widget class="QLabel" name="label_157">
-                           <property name="text">
-                            <string>Point size (1..64).</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="7" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
-                           <property name="suffix">
-                            <string> m</string>
-                           </property>
-                           <property name="decimals">
-                            <number>3</number>
-                           </property>
-                           <property name="maximum">
-                            <double>1.000000000000000</double>
-                           </property>
-                           <property name="singleStep">
-                            <double>0.050000000000000</double>
-                           </property>
-                           <property name="value">
-                            <double>0.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="2" column="0">
-                          <widget class="QSpinBox" name="spinBox_decimation">
-                           <property name="minimum">
-                            <number>-32</number>
-                           </property>
-                           <property name="maximum">
-                            <number>32</number>
-                           </property>
-                           <property name="value">
-                            <number>1</number>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="3" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
+                         <item row="3" column="1">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
                            <property name="suffix">
                             <string> m</string>
                            </property>
@@ -1016,60 +793,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            <property name="singleStep">
                             <double>0.100000000000000</double>
                            </property>
-                           <property name="value">
-                            <double>4.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="3" column="2">
-                          <widget class="QLabel" name="label_132">
-                           <property name="text">
-                            <string>Maximum depth (0 means no limit).</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="4" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
-                           <property name="suffix">
-                            <string> m</string>
-                           </property>
-                           <property name="decimals">
-                            <number>1</number>
-                           </property>
-                           <property name="maximum">
-                            <double>100.000000000000000</double>
-                           </property>
-                           <property name="singleStep">
-                            <double>0.100000000000000</double>
-                           </property>
-                           <property name="value">
-                            <double>0.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="4" column="1">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
-                           <property name="suffix">
-                            <string> m</string>
-                           </property>
-                           <property name="decimals">
-                            <number>1</number>
-                           </property>
-                           <property name="minimum">
-                            <double>0.000000000000000</double>
-                           </property>
-                           <property name="maximum">
-                            <double>100.000000000000000</double>
-                           </property>
-                           <property name="singleStep">
-                            <double>0.100000000000000</double>
-                           </property>
                            <property name="value">
                             <double>0.000000000000000</double>
                            </property>
@@ -1088,10 +811,13 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="2">
-                          <widget class="QLabel" name="label_353">
+                         <item row="14" column="0">
+                          <widget class="QSpinBox" name="spinBox_colorScheme"/>
+                         </item>
+                         <item row="2" column="2">
+                          <widget class="QLabel" name="label_108">
                            <property name="text">
-                            <string>ROI ratios [left right top bottom] between 0 and 1.</string>
+                            <string>Decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -1101,90 +827,23 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="10" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_floorFilterHeight">
-                           <property name="suffix">
-                            <string> m</string>
-                           </property>
-                           <property name="decimals">
-                            <number>3</number>
-                           </property>
+                         <item row="12" column="0">
+                          <widget class="QSpinBox" name="spinBox_normalKSearch">
                            <property name="minimum">
-                            <double>-10.000000000000000</double>
-                           </property>
-                           <property name="maximum">
-                            <double>10.000000000000000</double>
-                           </property>
-                           <property name="singleStep">
-                            <double>0.100000000000000</double>
-                           </property>
-                           <property name="value">
-                            <double>0.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="6" column="0">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_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="singleStep">
-                            <double>0.010000000000000</double>
-                           </property>
-                           <property name="value">
-                            <double>0.000000000000000</double>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="15" column="1">
-                          <widget class="QSpinBox" name="spinBox_ptsize_odom">
-                           <property name="minimum">
-                            <number>1</number>
-                           </property>
-                           <property name="maximum">
-                            <number>64</number>
-                           </property>
-                           <property name="value">
-                            <number>2</number>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="7" column="2">
-                          <widget class="QLabel" name="label_168">
-                           <property name="text">
-                            <string>Noise filtering radius (0=disabled). Done after voxel filtering.</string>
-                           </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
-                           </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item row="8" column="0">
-                          <widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
-                           <property name="minimum">
-                            <number>1</number>
+                            <number>0</number>
                            </property>
                            <property name="maximum">
                             <number>1000</number>
                            </property>
                            <property name="value">
-                            <number>5</number>
+                            <number>10</number>
                            </property>
                           </widget>
                          </item>
-                         <item row="9" column="2">
-                          <widget class="QLabel" name="label_338">
+                         <item row="15" column="2">
+                          <widget class="QLabel" name="label_155">
                            <property name="text">
-                            <string>Ceiling filtering height (0=Disabled). This is done in /map frame.</string>
+                            <string>Opacity.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -1194,20 +853,46 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="2">
-                          <widget class="QLabel" name="label_171">
-                           <property name="text">
-                            <string>Voxel filtering size (0=disabled).</string>
+                         <item row="15" column="1">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
+                           <property name="suffix">
+                            <string/>
                            </property>
-                           <property name="wordWrap">
-                            <bool>true</bool>
+                           <property name="decimals">
+                            <number>2</number>
                            </property>
-                           <property name="textInteractionFlags">
-                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           <property name="maximum">
+                            <double>1.000000000000000</double>
+                           </property>
+                           <property name="singleStep">
+                            <double>0.100000000000000</double>
+                           </property>
+                           <property name="value">
+                            <double>1.000000000000000</double>
                            </property>
                           </widget>
                          </item>
-                         <item row="9" column="0">
+                         <item row="13" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
+                           <property name="singleStep">
+                            <double>0.010000000000000</double>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="2" column="0">
+                          <widget class="QSpinBox" name="spinBox_decimation">
+                           <property name="minimum">
+                            <number>-32</number>
+                           </property>
+                           <property name="maximum">
+                            <number>32</number>
+                           </property>
+                           <property name="value">
+                            <number>1</number>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="10" column="0">
                           <widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingFilterHeight">
                            <property name="suffix">
                             <string> m</string>
@@ -1229,23 +914,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="11" column="0">
-                          <widget class="QSpinBox" name="spinBox_normalKSearch">
-                           <property name="minimum">
-                            <number>0</number>
+                         <item row="4" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
+                           <property name="suffix">
+                            <string> m</string>
+                           </property>
+                           <property name="decimals">
+                            <number>1</number>
                            </property>
                            <property name="maximum">
-                            <number>1000</number>
+                            <double>100.000000000000000</double>
+                           </property>
+                           <property name="singleStep">
+                            <double>0.100000000000000</double>
                            </property>
                            <property name="value">
-                            <number>10</number>
+                            <double>0.000000000000000</double>
                            </property>
                           </widget>
                          </item>
-                         <item row="11" column="2">
-                          <widget class="QLabel" name="label_210">
+                         <item row="1" column="2">
+                          <widget class="QLabel" name="label_119">
                            <property name="text">
-                            <string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys  7, 8 and 9).</string>
+                            <string>Show 3D clouds.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -1255,7 +946,181 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="12" column="2">
+                         <item row="8" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
+                           <property name="suffix">
+                            <string> m</string>
+                           </property>
+                           <property name="decimals">
+                            <number>3</number>
+                           </property>
+                           <property name="maximum">
+                            <double>1.000000000000000</double>
+                           </property>
+                           <property name="singleStep">
+                            <double>0.050000000000000</double>
+                           </property>
+                           <property name="value">
+                            <double>0.000000000000000</double>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="0" column="1">
+                          <widget class="QLabel" name="label_137">
+                           <property name="text">
+                            <string>Odometry</string>
+                           </property>
+                           <property name="alignment">
+                            <set>Qt::AlignCenter</set>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="1" column="1">
+                          <widget class="QCheckBox" name="checkBox_showOdomClouds">
+                           <property name="text">
+                            <string/>
+                           </property>
+                           <property name="checked">
+                            <bool>true</bool>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="14" column="1">
+                          <widget class="QSpinBox" name="spinBox_colorScheme_odom"/>
+                         </item>
+                         <item row="5" column="2">
+                          <widget class="QLabel" name="label_353">
+                           <property name="text">
+                            <string>ROI ratios [left right top bottom] between 0 and 1.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="16" column="2">
+                          <widget class="QLabel" name="label_157">
+                           <property name="text">
+                            <string>Point size (1..64).</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="16" column="0">
+                          <widget class="QSpinBox" name="spinBox_ptsize">
+                           <property name="minimum">
+                            <number>1</number>
+                           </property>
+                           <property name="maximum">
+                            <number>64</number>
+                           </property>
+                           <property name="value">
+                            <number>2</number>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="3" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
+                           <property name="suffix">
+                            <string> m</string>
+                           </property>
+                           <property name="decimals">
+                            <number>1</number>
+                           </property>
+                           <property name="maximum">
+                            <double>100.000000000000000</double>
+                           </property>
+                           <property name="singleStep">
+                            <double>0.100000000000000</double>
+                           </property>
+                           <property name="value">
+                            <double>4.000000000000000</double>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="7" column="2">
+                          <widget class="QLabel" name="label_171">
+                           <property name="text">
+                            <string>Voxel filtering size (0=disabled).</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="11" column="2">
+                          <widget class="QLabel" name="label_355">
+                           <property name="text">
+                            <string>Floor filtering height (0=Disabled). This is done in /map frame.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="10" column="2">
+                          <widget class="QLabel" name="label_338">
+                           <property name="text">
+                            <string>Ceiling filtering height (0=Disabled). This is done in /map frame.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="11" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_floorFilterHeight">
+                           <property name="suffix">
+                            <string> m</string>
+                           </property>
+                           <property name="decimals">
+                            <number>3</number>
+                           </property>
+                           <property name="minimum">
+                            <double>-10.000000000000000</double>
+                           </property>
+                           <property name="maximum">
+                            <double>10.000000000000000</double>
+                           </property>
+                           <property name="singleStep">
+                            <double>0.100000000000000</double>
+                           </property>
+                           <property name="value">
+                            <double>0.000000000000000</double>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="1" column="0">
+                          <widget class="QCheckBox" name="checkBox_showClouds">
+                           <property name="text">
+                            <string/>
+                           </property>
+                           <property name="checked">
+                            <bool>true</bool>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="13" column="2">
                           <widget class="QLabel" name="label_427">
                            <property name="text">
                             <string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys  7, 8 and 9).</string>
@@ -1268,8 +1133,117 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
-                         <item row="14" column="1">
-                          <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
+                         <item row="2" column="1">
+                          <widget class="QSpinBox" name="spinBox_decimation_odom">
+                           <property name="minimum">
+                            <number>-32</number>
+                           </property>
+                           <property name="maximum">
+                            <number>32</number>
+                           </property>
+                           <property name="value">
+                            <number>1</number>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="4" column="1">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
+                           <property name="suffix">
+                            <string> m</string>
+                           </property>
+                           <property name="decimals">
+                            <number>1</number>
+                           </property>
+                           <property name="minimum">
+                            <double>0.000000000000000</double>
+                           </property>
+                           <property name="maximum">
+                            <double>100.000000000000000</double>
+                           </property>
+                           <property name="singleStep">
+                            <double>0.100000000000000</double>
+                           </property>
+                           <property name="value">
+                            <double>0.000000000000000</double>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="7" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_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="singleStep">
+                            <double>0.010000000000000</double>
+                           </property>
+                           <property name="value">
+                            <double>0.000000000000000</double>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="14" column="2">
+                          <widget class="QLabel" name="label_459">
+                           <property name="text">
+                            <string>Default color scheme key.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="12" column="2">
+                          <widget class="QLabel" name="label_210">
+                           <property name="text">
+                            <string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys  7, 8 and 9).</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="3" column="2">
+                          <widget class="QLabel" name="label_132">
+                           <property name="text">
+                            <string>Maximum depth (0 means no limit).</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="5" column="1">
+                          <widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
+                         </item>
+                         <item row="8" column="2">
+                          <widget class="QLabel" name="label_168">
+                           <property name="text">
+                            <string>Noise filtering radius (0=disabled). Done after voxel filtering.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="15" column="0">
+                          <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
                            <property name="suffix">
                             <string/>
                            </property>
@@ -1287,6 +1261,77 @@ Show a yellow background when the number of odometry inliers goes under this thr
                            </property>
                           </widget>
                          </item>
+                         <item row="16" column="1">
+                          <widget class="QSpinBox" name="spinBox_ptsize_odom">
+                           <property name="minimum">
+                            <number>1</number>
+                           </property>
+                           <property name="maximum">
+                            <number>64</number>
+                           </property>
+                           <property name="value">
+                            <number>2</number>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="9" column="2">
+                          <widget class="QLabel" name="label_169">
+                           <property name="text">
+                            <string>Noise filtering min neighbors.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="6" column="2">
+                          <widget class="QLabel" name="label_298">
+                           <property name="text">
+                            <string>Minimum depth confidence.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="6" column="1">
+                          <widget class="QSpinBox" name="spinBox_depthConf_odom">
+                           <property name="suffix">
+                            <string> %</string>
+                           </property>
+                           <property name="minimum">
+                            <number>0</number>
+                           </property>
+                           <property name="maximum">
+                            <number>100</number>
+                           </property>
+                           <property name="value">
+                            <number>0</number>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="6" column="0">
+                          <widget class="QSpinBox" name="spinBox_depthConf">
+                           <property name="suffix">
+                            <string> %</string>
+                           </property>
+                           <property name="minimum">
+                            <number>0</number>
+                           </property>
+                           <property name="maximum">
+                            <number>100</number>
+                           </property>
+                           <property name="value">
+                            <number>0</number>
+                           </property>
+                          </widget>
+                         </item>
                         </layout>
                        </item>
                        <item>
@@ -27177,13 +27222,13 @@ Lower the ratio -&gt; higher the precision.</string>
                  <item>
                   <widget class="QGroupBox" name="groupBox_detector_superpoint_torch2">
                    <property name="title">
-                    <string>SupertPoint Torch</string>
+                    <string>SuperPoint Torch</string>
                    </property>
                    <layout class="QVBoxLayout" name="verticalLayout_147">
                     <item>
                      <widget class="QLabel" name="label_575">
                       <property name="text">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;SupertPoint c++ implementation from &lt;a href=&quot;https://github.com/KinglittleQ/SuperPoint_SLAM&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPoint_SLAM&lt;/span&gt;&lt;/a&gt; project based on pytorch. A &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pt&lt;/span&gt; weights file can be downloaded from its Git. It should be the same weights file &lt;a href=&quot;https://pytorch.org/tutorials/advanced/cpp_export.html&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;converted&lt;/span&gt;&lt;/a&gt; from &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pth&lt;/span&gt; of the &lt;a href=&quot;https://github.com/magicleap/SuperPointPretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPointPretrainedNetwork&lt;/span&gt;&lt;/a&gt; project.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;SuperPoint c++ implementation from &lt;a href=&quot;https://github.com/KinglittleQ/SuperPoint_SLAM&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPoint_SLAM&lt;/span&gt;&lt;/a&gt; project based on pytorch. A &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pt&lt;/span&gt; weights file can be downloaded from its Git. It should be the same weights file &lt;a href=&quot;https://pytorch.org/tutorials/advanced/cpp_export.html&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;converted&lt;/span&gt;&lt;/a&gt; from &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pth&lt;/span&gt; of the &lt;a href=&quot;https://github.com/magicleap/SuperPointPretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPointPretrainedNetwork&lt;/span&gt;&lt;/a&gt; project.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
                       <property name="wordWrap">
                        <bool>true</bool>