Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.

2026-09-02 09:30:25 +08:00 · 2016-05-05 18:25:26 -04:00
parent 74d0bfa1bb
commit ad0afc58c0
11 changed files with 455 additions and 250 deletions
--- a/guilib/src/CloudViewer.cpp
+++ b/guilib/src/CloudViewer.cpp
@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UConversion.h>
-#include <rtabmap/core/util3d.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/common/transforms.h>
 #include <QMenu>
@@ -42,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QKeyEvent>
 #include <QColorDialog>
 #include <QtGui/QVector3D>
+#include <QMainWindow>
 #include <set>

 #include <vtkCamera.h>
@@ -121,22 +121,29 @@ CloudViewer::CloudViewer(QWidget *parent) :
 		_defaultBgColor(Qt::black),
 		_currentBgColor(Qt::black),
 		_backfaceCulling(false),
-		_frontfaceCulling(false)
+		_frontfaceCulling(false),
+		_renderingRate(5.0)
 {
+	UDEBUG("");
 	this->setMinimumSize(200, 200);

 	int argc = 0;
-	_visualizer = new pcl::visualization::PCLVisualizer(argc, 0, "PCLVisualizer", vtkSmartPointer<MyInteractorStyle>(new MyInteractorStyle()), false);
+	_visualizer = new pcl::visualization::PCLVisualizer(
+		argc, 
+		0, 
+		"PCLVisualizer", 
+		vtkSmartPointer<MyInteractorStyle>(new MyInteractorStyle()), 
+		false);

 	_visualizer->setShowFPS(false);
-
+	
 	this->SetRenderWindow(_visualizer->getRenderWindow());

 	// Replaced by the second line, to avoid a crash in Mac OS X on close, as well as
 	// the "Invalid drawable" warning when the view is not visible.
 	//_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
 	this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle());
-	_visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(5.0);
+	setRenderingRate(_renderingRate);

 	_visualizer->setCameraPosition(
 				-1, 0, 0,
@@ -205,7 +212,8 @@ void CloudViewer::createMenu()
 	_aShowGrid->setCheckable(true);
 	_aSetGridCellCount = new QAction("Set cell count...", this);
 	_aSetGridCellSize = new QAction("Set cell size...", this);
-	_aSetBackgroundColor = new QAction("Set background color...", this);
+	_aSetBackgroundColor = new QAction("Set background color...", this);	
+	_aSetRenderingRate = new QAction("Set rendering rate...", this);

 	QMenu * cameraMenu = new QMenu("Camera", this);
 	cameraMenu->addAction(_aLockCamera);
@@ -241,6 +249,7 @@ void CloudViewer::createMenu()
 	_menu->addMenu(frustumMenu);
 	_menu->addMenu(gridMenu);
 	_menu->addAction(_aSetBackgroundColor);
+	_menu->addAction(_aSetRenderingRate);
 }

 void CloudViewer::saveSettings(QSettings & settings, const QString & group) const
@@ -290,6 +299,7 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons
 	settings.setValue("camera_lockZ", this->isCameraLockZ());

 	settings.setValue("bg_color", this->getDefaultBackgroundColor());
+	settings.setValue("rendering_rate", this->getRenderingRate());
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -331,6 +341,9 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
 	this->setCameraLockZ(settings.value("camera_lockZ", this->isCameraLockZ()).toBool());

 	this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
+	
+	this->setRenderingRate(settings.value("rendering_rate", this->getRenderingRate()).toDouble());
+
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -1136,6 +1149,12 @@ void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling)
 	_frontfaceCulling = frontfaceCulling;
 }

+void CloudViewer::setRenderingRate(double rate)
+{
+	_renderingRate = rate;
+	_visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(_renderingRate);
+}
+
 void CloudViewer::getCameraPosition(
 		float & x, float & y, float & z,
 		float & focalX, float & focalY, float & focalZ,
@@ -1438,6 +1457,10 @@ float CloudViewer::getGridCellSize() const
 {
 	return _gridCellSize;
 }
+double CloudViewer::getRenderingRate() const
+{
+	return _renderingRate;
+}

 void CloudViewer::setGridCellCount(unsigned int count)
 {
@@ -1555,7 +1578,7 @@ void CloudViewer::keyReleaseEvent(QKeyEvent * event) {
 	}
 	else
 	{
-		QVTKWidget::keyPressEvent(event);
+		QWidget::keyPressEvent(event);
 	}
 }

@@ -1655,7 +1678,7 @@ void CloudViewer::keyPressEvent(QKeyEvent * event)
 	}
 	else
 	{
-		QVTKWidget::keyPressEvent(event);
+		QWidget::keyPressEvent(event);
 	}
 }

@@ -1815,6 +1838,15 @@ void CloudViewer::handleAction(QAction * a)
 			this->update();
 		}
 	}
+	else if(a == _aSetRenderingRate)
+	{
+		bool ok;
+		double value = QInputDialog::getDouble(this, tr("Rendering rate"), tr("Rate (hz)"), _renderingRate, 0, 60, 0, &ok);
+		if(ok)
+		{
+			this->setRenderingRate(value);
+		}
+	}
 	else if(a == _aLockViewZ)
 	{
 		if(_aLockViewZ->isChecked())
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -47,6 +47,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include "rtabmap/core/DBDriver.h"
 #include "rtabmap/gui/KeypointItem.h"
+#include "rtabmap/gui/CloudViewer.h"
 #include "rtabmap/utilite/UCv2Qt.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/util3d_transforms.h"
@@ -113,8 +114,22 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	ui_->dockWidget_stereoView->setVisible(false);
 	ui_->dockWidget_view3d->setVisible(false);

-	ui_->constraintsViewer->setCameraLockZ(false);
-	ui_->constraintsViewer->setCameraFree();
+	// Create cloud viewers
+	constraintsViewer_ = new CloudViewer(ui_->dockWidgetContents);
+	cloudViewerA_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
+	cloudViewerB_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
+	stereoViewer_ = new CloudViewer(ui_->dockWidgetContents_stereo);
+	constraintsViewer_->setObjectName("constraintsViewer");
+	cloudViewerA_->setObjectName("cloudViewerA");
+	cloudViewerB_->setObjectName("cloudViewerB");
+	stereoViewer_->setObjectName("stereoViewer");
+	ui_->layout_constraintsViewer->addWidget(constraintsViewer_);
+	ui_->horizontalLayout_3dviews->addWidget(cloudViewerA_, 1);
+	ui_->horizontalLayout_3dviews->addWidget(cloudViewerB_, 1);
+	ui_->horizontalLayout_stereo->addWidget(stereoViewer_, 1);
+
+	constraintsViewer_->setCameraLockZ(false);
+	constraintsViewer_->setCameraFree();

 	ui_->graphicsView_stereo->setAlpha(255);

@@ -1449,8 +1464,8 @@ void DatabaseViewer::view3DMap()
 	QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation"), items, 2, false, &ok);
 	if(ok)
 	{
-		int decimation = item.toInt();
-		double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok);
+		int decimation = item.toInt();
+		double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok);
 		if(ok)
 		{
 			std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
@@ -1667,7 +1682,7 @@ void DatabaseViewer::generate3DMap()
 	QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation"), items, 2, false, &ok);
 	if(ok)
 	{
-		int decimation = item.toInt();
+		int decimation = item.toInt();
 		double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok);
 		if(ok)
 		{
@@ -2068,7 +2083,7 @@ void DatabaseViewer::sliderAValueChanged(int value)
 			ui_->label_labelA,
 			ui_->label_stampA,
 			ui_->graphicsView_A,
-			ui_->widget_cloudA,
+			cloudViewerA_,
 			ui_->label_idA,
 			ui_->label_mapA,
 			ui_->label_poseA,
@@ -2086,7 +2101,7 @@ void DatabaseViewer::sliderBValueChanged(int value)
 			ui_->label_labelB,
 			ui_->label_stampB,
 			ui_->graphicsView_B,
-			ui_->widget_cloudB,
+			cloudViewerB_,
 			ui_->label_idB,
 			ui_->label_mapB,
 			ui_->label_poseB,
@@ -2235,7 +2250,7 @@ void DatabaseViewer::update(int value,
 				}
 				else
 				{
-					ui_->stereoViewer->clear();
+					stereoViewer_->clear();
 					ui_->graphicsView_stereo->clear();
 				}

@@ -2430,7 +2445,7 @@ void DatabaseViewer::update(int value,
 			ui_->horizontalSlider_loops->blockSignals(false);
 			ui_->horizontalSlider_neighbors->blockSignals(false);

-			ui_->constraintsViewer->removeAllClouds();
+			constraintsViewer_->removeAllClouds();

 			// make a fake link using globally optimized poses
 			if(graphes_.size())
@@ -2449,7 +2464,7 @@ void DatabaseViewer::update(int value,
 				}
 			}

-			ui_->constraintsViewer->update();
+			constraintsViewer_->update();

 		}
 	}
@@ -2467,7 +2482,7 @@ void DatabaseViewer::updateLoggerLevel()
 		ULogger::setLevel((ULogger::Level)ui_->comboBox_logger_level->currentIndex());
 	}
 }
-
+
 void DatabaseViewer::updateStereo()
 {
 	if(ui_->horizontalSlider_A->maximum())
@@ -2480,7 +2495,7 @@ void DatabaseViewer::updateStereo()
 	}
 }

-void DatabaseViewer::updateStereo(const SensorData * data)
+void DatabaseViewer::updateStereo(const SensorData * data)
 {
 	if(data &&
 		ui_->dockWidget_stereoView->isVisible() &&
@@ -2567,10 +2582,10 @@ void DatabaseViewer::updateStereo(const SensorData * data)
 							data->stereoCameraModel());

 					if(util3d::isFinite(tmpPt))
-					{
+					{
 						pt = util3d::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform());
 						status[i] = 100; //blue
-						++inliers;
+						++inliers;
 						cloud->at(oi++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
 					}
 				}
@@ -2590,9 +2605,9 @@ void DatabaseViewer::updateStereo(const SensorData * data)
 		UINFO("correspondences = %d/%d (%f) (time kpt=%fs stereo=%fs)",
 				(int)cloud->size(), (int)leftCorners.size(), float(cloud->size())/float(leftCorners.size()), timeKpt, timeStereo);

-		ui_->stereoViewer->updateCameraTargetPosition(Transform::getIdentity());
-		ui_->stereoViewer->addCloud("stereo", cloud);
-		ui_->stereoViewer->update();
+		stereoViewer_->updateCameraTargetPosition(Transform::getIdentity());
+		stereoViewer_->addCloud("stereo", cloud);
+		stereoViewer_->update();

 		ui_->label_stereo_inliers->setNum(inliers);
 		ui_->label_stereo_flowOutliers->setNum(flowOutliers);
@@ -2885,7 +2900,7 @@ void DatabaseViewer::updateConstraintView(
 					ui_->label_labelA,
 					ui_->label_stampA,
 					ui_->graphicsView_A,
-					ui_->widget_cloudA,
+					cloudViewerA_,
 					ui_->label_idA,
 					ui_->label_mapA,
 					ui_->label_poseA,
@@ -2899,7 +2914,7 @@ void DatabaseViewer::updateConstraintView(
 					ui_->label_labelB,
 					ui_->label_stampB,
 					ui_->graphicsView_B,
-					ui_->widget_cloudB,
+					cloudViewerB_,
 					ui_->label_idB,
 					ui_->label_mapB,
 					ui_->label_poseB,
@@ -2907,7 +2922,7 @@ void DatabaseViewer::updateConstraintView(
 					false); // don't update constraints view!
 	}

-	if(ui_->constraintsViewer->isVisible())
+	if(constraintsViewer_->isVisible())
 	{
 		SensorData dataFrom, dataTo;

@@ -2939,18 +2954,18 @@ void DatabaseViewer::updateConstraintView(

 				if(cloudFrom.get() && cloudFrom->size())
 				{
-					ui_->constraintsViewer->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
+					constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
 				}
 				if(cloudTo.get() && cloudTo->size())
 				{
 					cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
-					ui_->constraintsViewer->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
+					constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
 				}
 			}
 			else
 			{
-				ui_->constraintsViewer->removeCloud("cloud0");
-				ui_->constraintsViewer->removeCloud("cloud1");
+				constraintsViewer_->removeCloud("cloud0");
+				constraintsViewer_->removeCloud("cloud1");
 			}
 			if(ui_->checkBox_show3DWords->isChecked())
 			{
@@ -2998,28 +3013,28 @@ void DatabaseViewer::updateConstraintView(

 					if(cloudFrom->size())
 					{
-						ui_->constraintsViewer->addCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red);
+						constraintsViewer_->addCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red);
 					}
 					else
 					{
 						UWARN("Empty 3D words for node %d", link.from());
-						ui_->constraintsViewer->removeCloud("words0");
+						constraintsViewer_->removeCloud("words0");
 					}
 					if(cloudTo->size())
 					{
-						ui_->constraintsViewer->addCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan);
+						constraintsViewer_->addCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan);
 					}
 					else
 					{
 						UWARN("Empty 3D words for node %d", link.to());
-						ui_->constraintsViewer->removeCloud("words1");
+						constraintsViewer_->removeCloud("words1");
 					}
 				}
 				else
 				{
 					UERROR("Not found signature %d or %d in RAM", link.from(), link.to());
-					ui_->constraintsViewer->removeCloud("words0");
-					ui_->constraintsViewer->removeCloud("words1");
+					constraintsViewer_->removeCloud("words0");
+					constraintsViewer_->removeCloud("words1");
 				}
 				//cleanup
 				for(std::list<Signature*>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
@@ -3029,19 +3044,19 @@ void DatabaseViewer::updateConstraintView(
 			}
 			else
 			{
-				ui_->constraintsViewer->removeCloud("words0");
-				ui_->constraintsViewer->removeCloud("words1");
+				constraintsViewer_->removeCloud("words0");
+				constraintsViewer_->removeCloud("words1");
 			}
 		}
 		else
 		{
 			if(cloudFrom->size())
 			{
-				ui_->constraintsViewer->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
+				constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
 			}
 			if(cloudTo->size())
 			{
-				ui_->constraintsViewer->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
+				constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
 			}
 		}

@@ -3051,8 +3066,8 @@ void DatabaseViewer::updateConstraintView(
 			{
 				//cloud 2d

-				ui_->constraintsViewer->removeCloud("scan2");
-				ui_->constraintsViewer->removeGraph("scan2graph");
+				constraintsViewer_->removeCloud("scan2");
+				constraintsViewer_->removeGraph("scan2graph");
 				if(link.type() == Link::kLocalSpaceClosure &&
 				   !link.userDataCompressed().empty())
 				{
@@ -3150,11 +3165,11 @@ void DatabaseViewer::updateConstraintView(

 							if(assembledScans->size())
 							{
-								ui_->constraintsViewer->addCloud("scan2", assembledScans, Transform::getIdentity(), Qt::cyan);
+								constraintsViewer_->addCloud("scan2", assembledScans, Transform::getIdentity(), Qt::cyan);
 							}
 							if(graph->size())
 							{
-								ui_->constraintsViewer->addOrUpdateGraph("scan2graph", graph, Qt::cyan);
+								constraintsViewer_->addOrUpdateGraph("scan2graph", graph, Qt::cyan);
 							}
 						}
 					}
@@ -3167,62 +3182,62 @@ void DatabaseViewer::updateConstraintView(
 				scanB = rtabmap::util3d::transformPointCloud(scanB, t);
 				if(scanA->size())
 				{
-					ui_->constraintsViewer->addCloud("scan0", scanA, Transform::getIdentity(), Qt::yellow);
+					constraintsViewer_->addCloud("scan0", scanA, Transform::getIdentity(), Qt::yellow);
 				}
 				else
 				{
-					ui_->constraintsViewer->removeCloud("scan0");
+					constraintsViewer_->removeCloud("scan0");
 				}
 				if(scanB->size())
 				{
-					ui_->constraintsViewer->addCloud("scan1", scanB, Transform::getIdentity(), Qt::magenta);
+					constraintsViewer_->addCloud("scan1", scanB, Transform::getIdentity(), Qt::magenta);
 				}
 				else
 				{
-					ui_->constraintsViewer->removeCloud("scan1");
+					constraintsViewer_->removeCloud("scan1");
 				}
 			}
 			else
 			{
-				ui_->constraintsViewer->removeCloud("scan0");
-				ui_->constraintsViewer->removeCloud("scan1");
-				ui_->constraintsViewer->removeCloud("scan2");
+				constraintsViewer_->removeCloud("scan0");
+				constraintsViewer_->removeCloud("scan1");
+				constraintsViewer_->removeCloud("scan2");
 			}
 		}
 		else
 		{
 			if(scanFrom->size())
 			{
-				ui_->constraintsViewer->addCloud("scan0", scanFrom, Transform::getIdentity(), Qt::yellow);
+				constraintsViewer_->addCloud("scan0", scanFrom, Transform::getIdentity(), Qt::yellow);
 			}
 			else
 			{
-				ui_->constraintsViewer->removeCloud("scan0");
+				constraintsViewer_->removeCloud("scan0");
 			}
 			if(scanTo->size())
 			{
-				ui_->constraintsViewer->addCloud("scan1", scanTo, Transform::getIdentity(), Qt::magenta);
+				constraintsViewer_->addCloud("scan1", scanTo, Transform::getIdentity(), Qt::magenta);
 			}
 			else
 			{
-				ui_->constraintsViewer->removeCloud("scan1");
+				constraintsViewer_->removeCloud("scan1");
 			}
-			ui_->constraintsViewer->removeCloud("scan2");
+			constraintsViewer_->removeCloud("scan2");
 		}

 		//update coordinate

-		ui_->constraintsViewer->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2);
-		ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate", t, 0.2);
+		constraintsViewer_->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2);
+		constraintsViewer_->addOrUpdateCoordinate("to_coordinate", t, 0.2);
 		if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to()))
 		{
-			ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate_gt",
+			constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt",
 					groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to()), 0.1);
 		}

-		ui_->constraintsViewer->clearTrajectory();
+		constraintsViewer_->clearTrajectory();

-		ui_->constraintsViewer->update();
+		constraintsViewer_->update();
 	}

 	// update buttons
@@ -4209,8 +4224,8 @@ void DatabaseViewer::updateLoopClosuresSlider(int from, int to)
 	else
 	{
 		ui_->horizontalSlider_loops->setEnabled(false);
-		ui_->constraintsViewer->removeAllClouds();
-		ui_->constraintsViewer->update();
+		constraintsViewer_->removeAllClouds();
+		constraintsViewer_->update();
 		updateConstraintButtons();
 	}
 }
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -48,6 +48,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/PdfPlot.h"
 #include "rtabmap/gui/StatsToolBox.h"
 #include "rtabmap/gui/ProgressDialog.h"
+#include "rtabmap/gui/CloudViewer.h"
+#include "rtabmap/gui/LoopClosureViewer.h"

 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/ULogger.h>
@@ -175,8 +177,23 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_postProcessingDialog->setObjectName("PostProcessingDialog");

 	_ui = new Ui_mainWindow();
+	UDEBUG("Setup ui...");
 	_ui->setupUi(this);

+	// Add cloud viewers
+	// Note that we add them here manually because there is a crash issue
+	// when adding them in a DockWidget of the *.ui file. The cloud viewer is 
+	// created in a widget which is not yet linked to main window when the CloudViewer constructor
+	// is called (see order in generated ui file). VTK needs to get the top 
+	// level window at the time CloudViewer is created, otherwise it may crash on some systems.
+	_cloudViewer = new CloudViewer(_ui->layout_cloudViewer);
+	_cloudViewer->setObjectName("widget_cloudViewer");
+	_ui->layout_cloudViewer->layout()->addWidget(_cloudViewer);
+	_loopClosureViewer = new LoopClosureViewer(_ui->layout_loopClosureViewer);
+	_loopClosureViewer->setObjectName("widget_loopClosureViewer");
+	_ui->layout_loopClosureViewer->layout()->addWidget(_loopClosureViewer);
+	UDEBUG("Setup ui... end");
+
 	QString title("RTAB-Map[*]");
 	this->setWindowTitle(title);
 	this->setWindowIconText(tr("RTAB-Map"));
@@ -196,6 +213,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	{
 		_preferencesDialog = new PreferencesDialog(this);
 	}
+
 	_preferencesDialog->setObjectName("PreferencesDialog");
 	_preferencesDialog->init();

@@ -347,6 +365,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :

 	_ui->actionPause->setShortcut(Qt::Key_Space);
 	_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
+	// Qt5 issue, we should explicitly add actions not in 
+	// menu bar to have shortcut working
+	this->addAction(_ui->actionSave_GUI_config);
 	_ui->actionReset_Odometry->setEnabled(false);
 	_ui->actionPost_processing->setEnabled(false);
 	_ui->actionAnchor_clouds_to_ground_truth->setEnabled(false);
@@ -415,7 +436,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->imageView_loopClosure, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->imageView_odometry, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->graphicsView_graphView, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
-	connect(_ui->widget_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
+	connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
@@ -467,9 +488,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :

 	_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 	_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
-	_ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
-	_ui->widget_cloudViewer->setBackfaceCulling(true, false);
-	_preferencesDialog->loadWidgetState(_ui->widget_cloudViewer);
+	_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
+	_cloudViewer->setBackfaceCulling(true, false);
+	_preferencesDialog->loadWidgetState(_cloudViewer);

 	//dialog states
 	_preferencesDialog->loadWidgetState(_exportCloudsDialog);
@@ -533,8 +554,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified()));

 	// update loop closure viewer parameters
-	_ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
-	_ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
+	_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
+	_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));

 	//update ui
 	_ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate());
@@ -811,8 +832,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 	if(pose.isNull())
 	{
 		UDEBUG("odom lost"); // use last pose
-		lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() != Qt::darkRed;
-		_ui->widget_cloudViewer->setBackgroundColor(Qt::darkRed);
+		lostStateChanged = _cloudViewer->getBackgroundColor() != Qt::darkRed;
+		_cloudViewer->setBackgroundColor(Qt::darkRed);
 		_ui->imageView_odometry->setBackgroundColor(Qt::darkRed);

 		pose = _lastOdomPose;
@@ -823,15 +844,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 			odom.info().inliers < _preferencesDialog->getOdomQualityWarnThr())
 	{
 		UDEBUG("odom warn, quality(inliers)=%d thr=%d", odom.info().inliers, _preferencesDialog->getOdomQualityWarnThr());
-		lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
-		_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
+		lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed;
+		_cloudViewer->setBackgroundColor(Qt::darkYellow);
 		_ui->imageView_odometry->setBackgroundColor(Qt::darkYellow);
 	}
 	else
 	{
 		UDEBUG("odom ok");
-		lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
-		_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
+		lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed;
+		_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
 		_ui->imageView_odometry->setBackgroundColor(Qt::black);
 	}

@@ -894,7 +915,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 								Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
 						if(polygons.size())
 						{
-							if(!_ui->widget_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
+							if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
 							{
 								UERROR("Adding cloudOdom to viewer failed!");
 							}
@@ -902,14 +923,14 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 					}
 					else
 					{
-						if(!_ui->widget_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
+						if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
 						{
 							UERROR("Adding cloudOdom to viewer failed!");
 						}
 					}
-					_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", true);
-					_ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
-					_ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
+					_cloudViewer->setCloudVisibility("cloudOdom", true);
+					_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
+					_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));

 					cloudUpdated = true;
 				}
@@ -922,15 +943,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 				{
 					pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
 					cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
-					if(!_ui->widget_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
+					if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
 					{
 						UERROR("Adding scanMapOdom to viewer failed!");
 					}
 					else
 					{
-						_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", true);
-						_ui->widget_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
-						_ui->widget_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
+						_cloudViewer->setCloudVisibility("scanMapOdom", true);
+						_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
+						_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
 						scanUpdated = true;
 					}
 				}
@@ -951,15 +972,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 						cloud = util3d::voxelize(cloud, _preferencesDialog->getCloudVoxelSizeScan(1));
 					}

-					if(!_ui->widget_cloudViewer->addCloud("scanOdom", cloud, _odometryCorrection, Qt::magenta))
+					if(!_cloudViewer->addCloud("scanOdom", cloud, _odometryCorrection, Qt::magenta))
 					{
 						UERROR("Adding scanOdom to viewer failed!");
 					}
 					else
 					{
-						_ui->widget_cloudViewer->setCloudVisibility("scanOdom", true);
-						_ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
-						_ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
+						_cloudViewer->setCloudVisibility("scanOdom", true);
+						_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
+						_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
 						scanUpdated = true;
 					}
 				}
@@ -986,38 +1007,38 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 						(*cloud)[i++].b = 0;
 					}

-					_ui->widget_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
-					_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", true);
-					_ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
+					_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
+					_cloudViewer->setCloudVisibility("featuresOdom", true);
+					_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));

 					featuresUpdated = true;
 				}
 			}
 		}
-		if(!cloudUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("cloudOdom"))
+		if(!cloudUpdated && _cloudViewer->getAddedClouds().contains("cloudOdom"))
 		{
-			_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
+			_cloudViewer->setCloudVisibility("cloudOdom", false);
 		}
-		if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanOdom"))
+		if(!scanUpdated && _cloudViewer->getAddedClouds().contains("scanOdom"))
 		{
-			_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
+			_cloudViewer->setCloudVisibility("scanOdom", false);
 		}
-		if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanMapOdom"))
+		if(!scanUpdated && _cloudViewer->getAddedClouds().contains("scanMapOdom"))
 		{
-			_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false);
+			_cloudViewer->setCloudVisibility("scanMapOdom", false);
 		}
-		if(!featuresUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("featuresOdom"))
+		if(!featuresUpdated && _cloudViewer->getAddedClouds().contains("featuresOdom"))
 		{
-			_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);
+			_cloudViewer->setCloudVisibility("featuresOdom", false);
 		}
 	}

 	if(!odom.pose().isNull())
 	{
 		// update camera position
-		_ui->widget_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
+		_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
 	}
-	_ui->widget_cloudViewer->update();
+	_cloudViewer->update();

 	if(_ui->graphicsView_graphView->isVisible())
 	{
@@ -1529,11 +1550,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				// the last loop closure data
 				Transform loopClosureTransform = stat.loopClosureTransform();
 				signature.setPose(loopClosureTransform);
-				_ui->widget_loopClosureViewer->setData(loopSignature, signature);
+				_loopClosureViewer->setData(loopSignature, signature);
 				if(_ui->dockWidget_loopClosureViewer->isVisible())
 				{
 					UTimer loopTimer;
-					_ui->widget_loopClosureViewer->updateView();
+					_loopClosureViewer->updateView();
 					UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
 					_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
 				}
@@ -1790,7 +1811,7 @@ void MainWindow::updateMapCloud(

 	// Map updated! regenerate the assembled cloud, last pose is the new one
 	UDEBUG("Update map with %d locations (currentPose=%s)", poses.size(), currentPose.prettyPrint().c_str());
-	QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
+	QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
 	int i=1;
 	for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 	{
@@ -1799,24 +1820,24 @@ void MainWindow::updateMapCloud(
 			std::string cloudName = uFormat("cloud%d", iter->first);

 			// 3d point cloud
-			if((_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
+			if((_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
 				(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible() && _preferencesDialog->isGridMapFrom3DCloud()))
 			{
 				if(viewerClouds.contains(cloudName))
 				{
 					// Update only if the pose has changed
 					Transform tCloud;
-					_ui->widget_cloudViewer->getPose(cloudName, tCloud);
+					_cloudViewer->getPose(cloudName, tCloud);
 					if(tCloud.isNull() || iter->second != tCloud)
 					{
-						if(!_ui->widget_cloudViewer->updateCloudPose(cloudName, iter->second))
+						if(!_cloudViewer->updateCloudPose(cloudName, iter->second))
 						{
 							UERROR("Updating pose cloud %d failed!", iter->first);
 						}
 					}
-					_ui->widget_cloudViewer->setCloudVisibility(cloudName, true);
-					_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
-					_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
+					_cloudViewer->setCloudVisibility(cloudName, true);
+					_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
+					_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
 				}
 				else if(_cachedSignatures.contains(iter->first))
 				{
@@ -1825,29 +1846,29 @@ void MainWindow::updateMapCloud(
 			}
 			else if(viewerClouds.contains(cloudName))
 			{
-				_ui->widget_cloudViewer->setCloudVisibility(cloudName.c_str(), false);
+				_cloudViewer->setCloudVisibility(cloudName.c_str(), false);
 			}

 			// 2d point cloud
 			std::string scanName = uFormat("scan%d", iter->first);
-			if((_ui->widget_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) ||
+			if((_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) ||
 				(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()))
 			{
 				if(viewerClouds.contains(scanName))
 				{
 					// Update only if the pose has changed
 					Transform tScan;
-					_ui->widget_cloudViewer->getPose(scanName, tScan);
+					_cloudViewer->getPose(scanName, tScan);
 					if(tScan.isNull() || iter->second != tScan)
 					{
-						if(!_ui->widget_cloudViewer->updateCloudPose(scanName, iter->second))
+						if(!_cloudViewer->updateCloudPose(scanName, iter->second))
 						{
 							UERROR("Updating pose scan %d failed!", iter->first);
 						}
 					}
-					_ui->widget_cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0));
-					_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
-					_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
+					_cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0));
+					_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
+					_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
 				}
 				else if(_cachedSignatures.contains(iter->first))
 				{
@@ -1860,27 +1881,27 @@ void MainWindow::updateMapCloud(
 			}
 			else if(viewerClouds.contains(scanName))
 			{
-				_ui->widget_cloudViewer->setCloudVisibility(scanName.c_str(), false);
+				_cloudViewer->setCloudVisibility(scanName.c_str(), false);
 			}

 			// 3d features
 			std::string featuresName = uFormat("features%d", iter->first);
-			if(_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0))
+			if(_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0))
 			{
 				if(viewerClouds.contains(featuresName))
 				{
 					// Update only if the pose has changed
 					Transform tFeatures;
-					_ui->widget_cloudViewer->getPose(featuresName, tFeatures);
+					_cloudViewer->getPose(featuresName, tFeatures);
 					if(tFeatures.isNull() || iter->second != tFeatures)
 					{
-						if(!_ui->widget_cloudViewer->updateCloudPose(featuresName, iter->second))
+						if(!_cloudViewer->updateCloudPose(featuresName, iter->second))
 						{
 							UERROR("Updating pose features %d failed!", iter->first);
 						}
 					}
-					_ui->widget_cloudViewer->setCloudVisibility(featuresName, _preferencesDialog->isFeaturesShown(0));
-					_ui->widget_cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0));
+					_cloudViewer->setCloudVisibility(featuresName, _preferencesDialog->isFeaturesShown(0));
+					_cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0));
 				}
 				else if(_cachedSignatures.contains(iter->first))
 				{
@@ -1893,7 +1914,7 @@ void MainWindow::updateMapCloud(
 			}
 			else if(viewerClouds.contains(featuresName))
 			{
-				_ui->widget_cloudViewer->setCloudVisibility(featuresName.c_str(), false);
+				_cloudViewer->setCloudVisibility(featuresName.c_str(), false);
 			}

 			if(verboseProgress)
@@ -1929,10 +1950,10 @@ void MainWindow::updateMapCloud(
 			int id = std::atoi(splitted.back().c_str());
 			if(poses.find(id) == poses.end())
 			{
-				if(_ui->widget_cloudViewer->getCloudVisibility(iter.key()))
+				if(_cloudViewer->getCloudVisibility(iter.key()))
 				{
 					UDEBUG("Hide %s", iter.key().c_str());
-					_ui->widget_cloudViewer->setCloudVisibility(iter.key(), false);
+					_cloudViewer->setCloudVisibility(iter.key(), false);
 				}
 			}
 		}
@@ -1941,8 +1962,8 @@ void MainWindow::updateMapCloud(
 	UDEBUG("");

 	// update 3D graphes (show all poses)
-	_ui->widget_cloudViewer->removeAllGraphs();
-	_ui->widget_cloudViewer->removeCloud("graph_nodes");
+	_cloudViewer->removeAllGraphs();
+	_cloudViewer->removeCloud("graph_nodes");
 	if(_preferencesDialog->isGraphsShown() && _currentPosesMap.size())
 	{
 		// Find all graphs
@@ -1983,14 +2004,14 @@ void MainWindow::updateMapCloud(
 			{
 				color = (Qt::GlobalColor)((iter->first+3) % 12 + 7 );
 			}
-			_ui->widget_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
+			_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
 		}
 	}

 	UDEBUG("labels.size()=%d", (int)labels.size());

 	// Update labels
-	_ui->widget_cloudViewer->removeAllTexts();
+	_cloudViewer->removeAllTexts();
 	if(_preferencesDialog->isLabelsShown() && labels.size())
 	{
 		for(std::map<int, std::string>::const_iterator iter=labels.begin(); iter!=labels.end(); ++iter)
@@ -2003,7 +2024,7 @@ void MainWindow::updateMapCloud(
 				{
 					color = (Qt::GlobalColor)((mapId+3) % 12 + 7 );
 				}
-				_ui->widget_cloudViewer->addOrUpdateText(
+				_cloudViewer->addOrUpdateText(
 						std::string("label_") + uNumber2Str(iter->first),
 						iter->second,
 						_currentPosesMap.at(iter->first),
@@ -2048,7 +2069,7 @@ void MainWindow::updateMapCloud(
 			if(_preferencesDialog->getGridMapShown())
 			{
 				float opacity = _preferencesDialog->getGridMapOpacity();
-				_ui->widget_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity);
+				_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity);
 			}
 			if(_ui->graphicsView_graphView->isVisible())
 			{
@@ -2063,7 +2084,7 @@ void MainWindow::updateMapCloud(
 	if(!_preferencesDialog->getGridMapShown())
 	{
 		UDEBUG("");
-		_ui->widget_cloudViewer->removeOccupancyGridMap();
+		_cloudViewer->removeOccupancyGridMap();
 	}

 	if(viewerClouds.contains("cloudOdom"))
@@ -2071,14 +2092,14 @@ void MainWindow::updateMapCloud(
 		if(!_preferencesDialog->isCloudsShown(1))
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
+			_cloudViewer->setCloudVisibility("cloudOdom", false);
 		}
 		else
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection);
-			_ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
-			_ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
+			_cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection);
+			_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
+			_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
 		}
 	}
 	if(viewerClouds.contains("scanOdom"))
@@ -2086,14 +2107,14 @@ void MainWindow::updateMapCloud(
 		if(!_preferencesDialog->isScansShown(1))
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
+			_cloudViewer->setCloudVisibility("scanOdom", false);
 		}
 		else
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->updateCloudPose("scanOdom", _odometryCorrection);
-			_ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
-			_ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
+			_cloudViewer->updateCloudPose("scanOdom", _odometryCorrection);
+			_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
+			_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
 		}
 	}
 	if(viewerClouds.contains("scanMapOdom"))
@@ -2101,14 +2122,14 @@ void MainWindow::updateMapCloud(
 		if(!_preferencesDialog->isScansShown(1))
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false);
+			_cloudViewer->setCloudVisibility("scanMapOdom", false);
 		}
 		else
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
-			_ui->widget_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
-			_ui->widget_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
+			_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
+			_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
+			_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
 		}
 	}
 	if(viewerClouds.contains("featuresOdom"))
@@ -2116,24 +2137,24 @@ void MainWindow::updateMapCloud(
 		if(!_preferencesDialog->isFeaturesShown(1))
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);
+			_cloudViewer->setCloudVisibility("featuresOdom", false);
 		}
 		else
 		{
 			UDEBUG("");
-			_ui->widget_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
-			_ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
+			_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
+			_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
 		}
 	}

 	if(!currentPose.isNull())
 	{
 		UDEBUG("");
-		_ui->widget_cloudViewer->updateCameraTargetPosition(currentPose);
+		_cloudViewer->updateCameraTargetPosition(currentPose);
 	}

 	UDEBUG("");
-	_ui->widget_cloudViewer->update();
+	_cloudViewer->update();
 	UDEBUG("");
 }

@@ -2142,7 +2163,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 	UDEBUG("");
 	UASSERT(!pose.isNull());
 	std::string cloudName = uFormat("cloud%d", nodeId);
-	if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
+	if(_cloudViewer->getAddedClouds().contains(cloudName))
 	{
 		UERROR("Cloud %d already added to map.", nodeId);
 		return;
@@ -2285,7 +2306,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 					std::vector<pcl::Vertices> outputPolygons;
 					util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
-					if(!_ui->widget_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
+					if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
 					{
 						UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
 					}
@@ -2302,7 +2323,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 					color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
 				}

-				if(!_ui->widget_cloudViewer->addCloud(cloudName, output, pose, color))
+				if(!_cloudViewer->addCloud(cloudName, output, pose, color))
 				{
 					UERROR("Adding cloud %d to viewer failed!", nodeId);
 				}
@@ -2314,15 +2335,15 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 		return;
 	}

-	_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
-	_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
+	_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
+	_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
 	UDEBUG("");
 }

 void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int mapId)
 {
 	std::string scanName = uFormat("scan%d", nodeId);
-	if(_ui->widget_cloudViewer->getAddedClouds().contains(scanName))
+	if(_cloudViewer->getAddedClouds().contains(scanName))
 	{
 		UERROR("Scan %d already added to map.", nodeId);
 		return;
@@ -2358,7 +2379,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
 			{
 				color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
 			}
-			if(!_ui->widget_cloudViewer->addCloud(scanName, cloud, pose, color))
+			if(!_cloudViewer->addCloud(scanName, cloud, pose, color))
 			{
 				UERROR("Adding cloud %d to viewer failed!", nodeId);
 			}
@@ -2385,7 +2406,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
 			{
 				color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
 			}
-			if(!_ui->widget_cloudViewer->addCloud(scanName, cloud, pose, color))
+			if(!_cloudViewer->addCloud(scanName, cloud, pose, color))
 			{
 				UERROR("Adding cloud %d to viewer failed!", nodeId);
 			}
@@ -2413,8 +2434,8 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
 				}
 			}
 		}
-		_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
-		_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
+		_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
+		_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
 	}
 }

@@ -2423,7 +2444,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 	UDEBUG("");
 	UASSERT(!pose.isNull());
 	std::string cloudName = uFormat("features%d", nodeId);
-	if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
+	if(_cloudViewer->getAddedClouds().contains(cloudName))
 	{
 		UERROR("Features cloud %d already added to map.", nodeId);
 		return;
@@ -2492,7 +2513,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 				(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
 			}
 		}
-		if(!_ui->widget_cloudViewer->addCloud(cloudName, cloud, pose, color))
+		if(!_cloudViewer->addCloud(cloudName, cloud, pose, color))
 		{
 			UERROR("Adding features cloud %d to viewer failed!", nodeId);
 		}
@@ -2506,7 +2527,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 		return;
 	}

-	_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0));
+	_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0));
 	UDEBUG("");
 }

@@ -2564,7 +2585,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
 {
 	if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
 	{
-		QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
+		QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
 		if(_preferencesDialog->isCloudsShown(0))
 		{
 			std::string cloudName = uFormat("cloud%d", nodeId);
@@ -2577,9 +2598,9 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
 				if(visible)
 				{
 					//make sure the transformation was done
-					_ui->widget_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
+					_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
 				}
-				_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible);
+				_cloudViewer->setCloudVisibility(cloudName, visible);
 			}
 		}

@@ -2595,13 +2616,13 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
 				if(visible)
 				{
 					//make sure the transformation was done
-					_ui->widget_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
+					_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
 				}
-				_ui->widget_cloudViewer->setCloudVisibility(scanName, visible);
+				_cloudViewer->setCloudVisibility(scanName, visible);
 			}
 		}
 	}
-	_ui->widget_cloudViewer->update();
+	_cloudViewer->update();
 }

 void MainWindow::processRtabmapEventInit(int status, const QString & info)
@@ -2977,7 +2998,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
 		{
 			_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 			_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
-			_ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
+			_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 		}

 		if(_state != kIdle && parametersModified.size())
@@ -2998,8 +3019,8 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
 		}

 		// update loop closure viewer parameters (Use Map parameters)
-		_ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
-		_ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
+		_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
+		_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));

 		// update graph view parameters
 		if(uContains(parameters, Parameters::kRGBDLocalRadius()))
@@ -3291,7 +3312,7 @@ void MainWindow::saveConfigGUI()
 	_preferencesDialog->saveMainWindowState(this);
 	_preferencesDialog->saveWindowGeometry(_preferencesDialog);
 	_preferencesDialog->saveWindowGeometry(_aboutDialog);
-	_preferencesDialog->saveWidgetState(_ui->widget_cloudViewer);
+	_preferencesDialog->saveWidgetState(_cloudViewer);
 	_preferencesDialog->saveWidgetState(_ui->imageView_source);
 	_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure);
 	_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
@@ -4649,9 +4670,9 @@ void MainWindow::clearTheCache()
 	_gridLocalMaps.clear();
 	_projectionLocalMaps.clear();
 	_createdFeatures.clear();
-	_ui->widget_cloudViewer->clear();
-	_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
-	_ui->widget_cloudViewer->clearTrajectory();
+	_cloudViewer->clear();
+	_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
+	_cloudViewer->clearTrajectory();
 	_ui->widget_mapVisibility->clear();
 	_currentPosesMap.clear();
 	_currentGTPosesMap.clear();
@@ -4781,7 +4802,7 @@ void MainWindow::setDefaultViews()
 	_ui->toolBar_2->setVisible(true);
 	_ui->statusbar->setVisible(false);
 	this->setAspectRatio720p();
-	_ui->widget_cloudViewer->resetCamera();
+	_cloudViewer->resetCamera();
 }

 void MainWindow::selectScreenCaptureFormat(bool checked)
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -98,6 +98,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui(0),
 	_indexModel(0),
 	_initialized(false),
+	_progressDialog(new QProgressDialog(this)),
 	_calibrationDialog(new CalibrationDialog(false, ".", this)),
 	_createCalibrationDialog(new CreateSimpleCalibrationDialog(".", "", this))
 {
@@ -105,6 +106,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_calibrationDialog->setWindowFlags(Qt::Window);
 	_calibrationDialog->setWindowTitle(tr("Calibration"));

+	_progressDialog->setWindowTitle(tr("Read parameters..."));
+	_progressDialog->setMaximum(2);
+	_progressDialog->setValue(2);
+
 	_ui = new Ui_preferencesDialog();
 	_ui->setupUi(this);

@@ -817,11 +822,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	this->setupTreeView();

 	_obsoletePanels = kPanelAll;
-
-	_progressDialog = new QProgressDialog(this);
-	_progressDialog->setWindowTitle(tr("Read parameters..."));
-	_progressDialog->setMaximum(2);
-	_progressDialog->setValue(2);
 }

 PreferencesDialog::~PreferencesDialog() {
--- a/guilib/src/ui/DatabaseViewer.ui
+++ b/guilib/src/ui/DatabaseViewer.ui
@@ -21,7 +21,16 @@
    <property name="spacing">
     <number>0</number>
    </property>
-    <property name="margin">
+    <property name="leftMargin">
+     <number>0</number>
+    </property>
+    <property name="topMargin">
+     <number>0</number>
+    </property>
+    <property name="rightMargin">
+     <number>0</number>
+    </property>
+    <property name="bottomMargin">
     <number>0</number>
    </property>
    <item>
@@ -52,7 +61,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-           <width>202</width>
+           <width>205</width>
           <height>196</height>
          </rect>
         </property>
@@ -210,7 +219,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-           <width>201</width>
+           <width>204</width>
           <height>196</height>
          </rect>
         </property>
@@ -357,7 +366,16 @@
      </item>
      <item row="1" column="0">
       <layout class="QHBoxLayout" name="horizontalLayout">
-        <property name="margin">
+        <property name="leftMargin">
+         <number>12</number>
+        </property>
+        <property name="topMargin">
+         <number>12</number>
+        </property>
+        <property name="rightMargin">
+         <number>12</number>
+        </property>
+        <property name="bottomMargin">
         <number>12</number>
        </property>
        <item>
@@ -413,7 +431,16 @@
      </item>
      <item row="1" column="1">
       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <property name="margin">
+        <property name="leftMargin">
+         <number>12</number>
+        </property>
+        <property name="topMargin">
+         <number>12</number>
+        </property>
+        <property name="rightMargin">
+         <number>12</number>
+        </property>
+        <property name="bottomMargin">
         <number>12</number>
        </property>
        <item>
@@ -541,7 +568,11 @@
   <widget class="QWidget" name="dockWidgetContents">
    <layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0,0">
     <item>
-      <widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
+      <layout class="QVBoxLayout" name="layout_constraintsViewer">
+       <property name="spacing">
+        <number>0</number>
+       </property>
+      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_10">
@@ -983,7 +1014,7 @@
         <rect>
          <x>0</x>
          <y>0</y>
-          <width>333</width>
+          <width>340</width>
          <height>186</height>
         </rect>
        </property>
@@ -1118,8 +1149,8 @@
        <property name="geometry">
         <rect>
          <x>0</x>
-          <y>-51</y>
-          <width>278</width>
+          <y>0</y>
+          <width>282</width>
          <height>611</height>
         </rect>
        </property>
@@ -1530,7 +1561,7 @@
         <rect>
          <x>0</x>
          <y>0</y>
-          <width>201</width>
+          <width>205</width>
          <height>117</height>
         </rect>
        </property>
@@ -1630,8 +1661,8 @@
         <rect>
          <x>0</x>
          <y>0</y>
-          <width>289</width>
-          <height>182</height>
+          <width>267</width>
+          <height>157</height>
         </rect>
        </property>
        <attribute name="label">
@@ -1725,22 +1756,28 @@
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_5">
+   <widget class="QWidget" name="dockWidgetContents_stereo">
    <layout class="QVBoxLayout" name="verticalLayout_11" stretch="1,0">
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_9" stretch="1,1">
+      <layout class="QHBoxLayout" name="horizontalLayout_stereo" stretch="1">
       <item>
        <widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
       </item>
-       <item>
-        <widget class="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
-       </item>
      </layout>
     </item>
     <item>
@@ -1841,25 +1878,28 @@
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_6">
+   <widget class="QWidget" name="dockWidgetContents_3dviews">
    <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0">
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_3dviews" stretch="1,1">
+      <layout class="QHBoxLayout" name="horizontalLayout_3dviews">
       <property name="spacing">
        <number>1</number>
       </property>
-       <item>
-        <widget class="rtabmap::CloudViewer" name="widget_cloudA" native="true"/>
-       </item>
-       <item>
-        <widget class="rtabmap::CloudViewer" name="widget_cloudB" native="true"/>
-       </item>
      </layout>
     </item>
     <item>
@@ -1906,7 +1946,16 @@
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_7">
    <layout class="QVBoxLayout" name="verticalLayout_13">
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -2032,12 +2081,6 @@
  </action>
 </widget>
 <customwidgets>
-  <customwidget>
-   <class>rtabmap::CloudViewer</class>
-   <extends>QWidget</extends>
-   <header>rtabmap/gui/CloudViewer.h</header>
-   <container>1</container>
-  </customwidget>
  <customwidget>
   <class>rtabmap::ImageView</class>
   <extends>QWidget</extends>
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -285,7 +285,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -323,7 +332,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -566,7 +584,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -587,7 +614,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -608,7 +644,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -624,17 +669,23 @@
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_5">
+   <widget class="QWidget" name="layout_cloudViewer">
    <layout class="QVBoxLayout" name="verticalLayout_3">
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
-     <item>
-      <widget class="rtabmap::CloudViewer" name="widget_cloudViewer" native="true"/>
-     </item>
    </layout>
   </widget>
  </widget>
@@ -645,17 +696,23 @@
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_7">
+   <widget class="QWidget" name="layout_loopClosureViewer">
    <layout class="QVBoxLayout" name="verticalLayout_7">
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
-     <item>
-      <widget class="rtabmap::LoopClosureViewer" name="widget_loopClosureViewer" native="true"/>
-     </item>
    </layout>
   </widget>
  </widget>
@@ -674,7 +731,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -695,7 +761,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -719,7 +794,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -789,7 +873,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -1323,18 +1416,6 @@
   <header>../include/rtabmap/gui/ConsoleWidget.h</header>
   <container>1</container>
  </customwidget>
-  <customwidget>
-   <class>rtabmap::CloudViewer</class>
-   <extends>QWidget</extends>
-   <header>../include/rtabmap/gui/CloudViewer.h</header>
-   <container>1</container>
-  </customwidget>
-  <customwidget>
-   <class>rtabmap::LoopClosureViewer</class>
-   <extends>QWidget</extends>
-   <header>../include/rtabmap/gui/LoopClosureViewer.h</header>
-   <container>1</container>
-  </customwidget>
  <customwidget>
   <class>rtabmap::MapVisibilityWidget</class>
   <extends>QWidget</extends>