Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.

corelib/include/rtabmap/core/Parameters.h

@@ -324,7 +324,8 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(RGBD, ProximityByTime,              bool, false, 	"Detection over all locations in STM.");
 	RTABMAP_PARAM(RGBD, ProximityBySpace,             bool, true, 	"Detection over locations (in Working Memory or STM) near in space.");
 	RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth,       int, 50,      "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
-	RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5,   "Path filtering radius.");
+	RTABMAP_PARAM(RGBD, ProximityMaxPaths,            int, 3,       "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
+	RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5,   "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
 	RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed,    bool, true,   "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
 	RTABMAP_PARAM(RGBD, ProximityAngle,               float, 45,    "Maximum angle (degrees) for visual proximity detection.");
 

corelib/include/rtabmap/core/Rtabmap.h

@@ -142,7 +142,7 @@ public:
 	const Transform & getPathTransformToGoal() const {return _pathTransformToGoal;}
 
 	std::map<int, Transform> getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const;
-	std::list<std::map<int, Transform> > getPaths(std::map<int, Transform> poses) const;
+	std::map<int, std::map<int, Transform> > getPaths(std::map<int, Transform> poses, const Transform & target, int maxGraphDepth = 0) const;
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
 	std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
 											const std::map<int, float> & likelihood) const;
@@ -195,6 +195,7 @@ private:
 	float _localRadius;
 	float _localImmunizationRatio;
 	int _proximityMaxGraphDepth;
+	int _proximityMaxPaths;
 	float _proximityFilteringRadius;
 	bool _proximityRawPosesUsed;
 	float _proximityAngle;

corelib/include/rtabmap/core/Statistics.h

@@ -69,6 +69,8 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Proximity, Time_detections,);
 	RTABMAP_STATS(Proximity, Space_last_detection_id,);
 	RTABMAP_STATS(Proximity, Space_paths,);
+	RTABMAP_STATS(Proximity, Space_visual_paths_checked,);
+	RTABMAP_STATS(Proximity, Space_scan_paths_checked,);
 	RTABMAP_STATS(Proximity, Space_detections_added_visually,);
 	RTABMAP_STATS(Proximity, Space_detections_added_icp_only,);
 

corelib/src/Graph.cpp

@@ -1479,20 +1479,16 @@ int findNearestNode(
 			ids[oi++] = iter->first;
 		}
 
-		std::map<int, float> foundNodes;
+		pcl::search::KdTree<pcl::PointXYZ>::Ptr kdTree(new pcl::search::KdTree<pcl::PointXYZ>);
-		if(cloud->size())
+		kdTree->setInputCloud(cloud);
+		std::vector<int> ind;
+		std::vector<float> dist;
+		pcl::PointXYZ pt(targetPose.x(), targetPose.y(), targetPose.z());
+		kdTree->nearestKSearch(pt, 1, ind, dist);
+		if(ind.size() && dist.size() && ind[0] >= 0)
 		{
-			pcl::search::KdTree<pcl::PointXYZ>::Ptr kdTree(new pcl::search::KdTree<pcl::PointXYZ>);
+			UDEBUG("Nearest node = %d: %f", ids[ind[0]], dist[0]);
-			kdTree->setInputCloud(cloud);
+			id = ids[ind[0]];
-			std::vector<int> ind;
-			std::vector<float> dist;
-			pcl::PointXYZ pt(targetPose.x(), targetPose.y(), targetPose.z());
-			kdTree->nearestKSearch(pt, 1, ind, dist);
-			if(ind.size() && dist.size() && ind[0] >= 0)
-			{
-				UDEBUG("Nearest node = %d: %f", ids[ind[0]], dist[0]);
-				id = ids[ind[0]];
-			}
 		}
 	}
 	return id;

corelib/src/RegistrationIcp.cpp

@@ -348,13 +348,15 @@ Transform RegistrationIcp::computeTransformationImpl(
 						correspondencesRatio = float(correspondences)/float(toScan.cols>fromScan.cols?toScan.cols:fromScan.cols);
 					}
 
-					UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
+					UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%), from guess: trans=%f rot=%f",
 							dataTo.id(), dataFrom.id(),
 							hasConverged?"true":"false",
 							variance,
 							correspondences,
 							maxLaserScans>0?maxLaserScans:(int)(toScan.cols>fromScan.cols?toScan.cols:fromScan.cols),
-							correspondencesRatio*100.0f);
+							correspondencesRatio*100.0f,
+							info.icpTranslation,
+							info.icpRotation);
 
 					info.variance = variance>0.0f?variance:0.0001; // epsilon if exact transform
 					info.icpInliersRatio = correspondencesRatio;

corelib/src/Rtabmap.cpp

@@ -98,6 +98,7 @@ Rtabmap::Rtabmap() :
 	_localRadius(Parameters::defaultRGBDLocalRadius()),
 	_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
 	_proximityMaxGraphDepth(Parameters::defaultRGBDProximityMaxGraphDepth()),
+	_proximityMaxPaths(Parameters::defaultRGBDProximityMaxPaths()),
 	_proximityFilteringRadius(Parameters::defaultRGBDProximityPathFilteringRadius()),
 	_proximityRawPosesUsed(Parameters::defaultRGBDProximityPathRawPosesUsed()),
 	_proximityAngle(Parameters::defaultRGBDProximityAngle()*M_PI/180.0f),
@@ -409,6 +410,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kRGBDLocalRadius(), _localRadius);
 	Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
 	Parameters::parse(parameters, Parameters::kRGBDProximityMaxGraphDepth(), _proximityMaxGraphDepth);
+	Parameters::parse(parameters, Parameters::kRGBDProximityMaxPaths(), _proximityMaxPaths);
 	Parameters::parse(parameters, Parameters::kRGBDProximityPathFilteringRadius(), _proximityFilteringRadius);
 	Parameters::parse(parameters, Parameters::kRGBDProximityPathRawPosesUsed(), _proximityRawPosesUsed);
 	Parameters::parse(parameters, Parameters::kRGBDProximityAngle(), _proximityAngle);
@@ -1766,6 +1768,8 @@ bool Rtabmap::process(
 	int proximityDetectionsAddedByICPOnly = 0;
 	int lastProximitySpaceClosureId = 0;
 	int proximitySpacePaths = 0;
+	int localVisualPathsChecked = 0;
+	int localScanPathsChecked = 0;
 	if(_proximityBySpace &&
 	   _localRadius > 0 &&
 	   _rgbdSlamMode &&
@@ -1813,14 +1817,16 @@ bool Rtabmap::process(
 				UDEBUG("nearestPoses=%d", (int)nearestPoses.size());
 
 				// segment poses by paths, only one detection per path
-				std::list<std::map<int, Transform> > nearestPaths = getPaths(nearestPoses);
+				std::map<int, std::map<int, Transform> > nearestPaths = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxGraphDepth);
-				UDEBUG("nearestPaths=%d", (int)nearestPaths.size());
+				UDEBUG("nearestPaths=%d proximityMaxPaths=%d", (int)nearestPaths.size(), _proximityMaxPaths);
 
-				for(std::list<std::map<int, Transform> >::const_iterator iter=nearestPaths.begin();
+				for(std::map<int, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();
-					iter!=nearestPaths.end() && (_memory->isIncremental() || lastProximitySpaceClosureId == 0);
+					iter!=nearestPaths.rend() &&
+					(_memory->isIncremental() || lastProximitySpaceClosureId == 0) &&
+					(_proximityMaxPaths <= 0 || localVisualPathsChecked < _proximityMaxPaths);
 					++iter)
 				{
-					std::map<int, Transform> path = *iter;
+					std::map<int, Transform> path = iter->second;
 					UASSERT(path.size());
 
 					//find the nearest pose on the path looking in the same direction
@@ -1829,11 +1835,12 @@ bool Rtabmap::process(
 					int nearestId = rtabmap::graph::findNearestNode(path, _optimizedPoses.at(signature->id()));
 					if(nearestId > 0)
 					{
-						// nearest pose must not be linked to current location and enough
+						// nearest pose must not be linked to current location and enough close
 						if(!signature->hasLink(nearestId) &&
 							(_proximityFilteringRadius <= 0.0f ||
 							 _optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius))
 						{
+							++localVisualPathsChecked;
 							RegistrationInfo info;
 							Transform guess = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(nearestId);
 							Transform transform = _memory->computeTransform(signature->id(), nearestId, guess, &info);
@@ -1883,18 +1890,19 @@ bool Rtabmap::process(
 					// local visual closure above.
 
 					proximitySpacePaths = (int)nearestPaths.size();
-
+					for(std::map<int, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();
-					for(std::list<std::map<int, Transform> >::iterator iter=nearestPaths.begin();
+							iter!=nearestPaths.rend() &&
-							iter!=nearestPaths.end() && (_memory->isIncremental() || lastProximitySpaceClosureId == 0);
+							(_memory->isIncremental() || lastProximitySpaceClosureId == 0) &&
+							(_proximityMaxPaths <= 0 || localScanPathsChecked < _proximityMaxPaths);
 							++iter)
 					{
-						std::map<int, Transform> & path = *iter;
+						std::map<int, Transform> path = iter->second;
 						UASSERT(path.size());
 
 						//find the nearest pose on the path
 						int nearestId = rtabmap::graph::findNearestNode(path, _optimizedPoses.at(signature->id()));
 						UASSERT(nearestId > 0);
-						UDEBUG("Path %d distance=%fm", nearestId, _optimizedPoses.at(signature->id()).getDistance(_optimizedPoses.at(nearestId)));
+						UDEBUG("Path %d (size=%d) distance=%fm", nearestId, (int)path.size(), _optimizedPoses.at(signature->id()).getDistance(_optimizedPoses.at(nearestId)));
 
 						// nearest pose must be close and not linked to current location
 						if(!signature->hasLink(nearestId) &&
@@ -1930,6 +1938,7 @@ bool Rtabmap::process(
 								//The nearest will be the reference for a loop closure transform
 								if(signature->getLinks().find(nearestId) == signature->getLinks().end())
 								{
+									++localScanPathsChecked;
 									RegistrationInfo info;
 									Transform transform = _memory->computeIcpTransformMulti(signature->id(), nearestId, filteredPath, &info);
 									if(!transform.isNull())
@@ -2238,6 +2247,8 @@ bool Rtabmap::process(
 			statistics_.addStatistic(Statistics::kProximitySpace_detections_added_visually(), proximityDetectionsAddedVisually);
 			statistics_.addStatistic(Statistics::kProximitySpace_detections_added_icp_only(), proximityDetectionsAddedByICPOnly);
 			statistics_.addStatistic(Statistics::kProximitySpace_paths(), proximitySpacePaths);
+			statistics_.addStatistic(Statistics::kProximitySpace_visual_paths_checked(), localVisualPathsChecked);
+			statistics_.addStatistic(Statistics::kProximitySpace_scan_paths_checked(), localScanPathsChecked);
 			statistics_.addStatistic(Statistics::kProximitySpace_last_detection_id(), lastProximitySpaceClosureId);
 			statistics_.setProximityDetectionId(lastProximitySpaceClosureId);
 			if(_loopClosureHypothesis.first || lastProximitySpaceClosureId)
@@ -2818,29 +2829,51 @@ std::map<int, Transform> Rtabmap::getForwardWMPoses(
 	return poses;
 }
 
-std::list<std::map<int, Transform> > Rtabmap::getPaths(std::map<int, Transform> poses) const
+std::map<int, std::map<int, Transform> > Rtabmap::getPaths(std::map<int, Transform> poses, const Transform & target, int maxGraphDepth) const
 {
-	std::list<std::map<int, Transform> > paths;
+	std::map<int, std::map<int, Transform> > paths;
-	if(_memory && poses.size())
+	if(_memory && poses.size() && !target.isNull())
 	{
 		// Segment poses connected only by neighbor links
 		while(poses.size())
 		{
 			std::map<int, Transform> path;
-			for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end();)
+			// select nearest pose and iterate neighbors from there
+			int nearestId = rtabmap::graph::findNearestNode(poses, target);
+			std::map<int, int> ids = _memory->getNeighborsId(nearestId, maxGraphDepth, 0, true, true, true);
+
+			for(std::map<int, int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
 			{
-				if(path.size() == 0 || uContains(_memory->getNeighborLinks(path.rbegin()->first), iter->first))
+				std::map<int, Transform>::iterator jter = poses.find(iter->first);
+				if(jter != poses.end())
 				{
-					path.insert(*iter);
+					bool valid = path.empty();
-					poses.erase(iter++);
+					if(!valid)
-				}
+					{
-				else
+						// make sure it has a neighbor added to path
-				{
+						std::map<int, Link> links = _memory->getNeighborLinks(iter->first);
-					break;
+						for(std::map<int, Link>::iterator kter=links.begin(); kter!=links.end() && !valid; ++kter)
+						{
+							valid = path.find(kter->first) != path.end();
+						}
+					}
+
+					if(valid)
+					{
+						UDEBUG("%d <- %d", nearestId, jter->first);
+						path.insert(*jter);
+						poses.erase(jter);
+					}
 				}
 			}
-			UASSERT(path.size());
+			UASSERT_MSG(path.size(), uFormat("nearestId=%d ids=%d", nearestId, (int)ids.size()).c_str());
-			paths.push_back(path);
+			if(maxGraphDepth > 0)
+			{
+				UASSERT_MSG((int)path.size() <= maxGraphDepth*2+1,
+						uFormat("nearestId=%d path=%d ids=%d maxGraphDepth=%d",
+								nearestId, (int)path.size(), (int)ids.size(), maxGraphDepth).c_str());
+			}
+			paths.insert(std::make_pair(nearestId, path));
 		}
 
 	}

guilib/src/PreferencesDialog.cpp

@@ -721,6 +721,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str());
 	_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
 	_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str());
+	_ui->localDetection_maxPaths->setObjectName(Parameters::kRGBDProximityMaxPaths().c_str());
 	_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str());
 	_ui->localDetection_angle->setObjectName(Parameters::kRGBDProximityAngle().c_str());
 	_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());

guilib/src/ui/preferencesDialog.ui

@@ -64,24 +64,15 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>685</width>
+            <width>686</width>
-            <height>1896</height>
+            <height>2023</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
            <property name="spacing">
             <number>0</number>
            </property>
-           <property name="leftMargin">
+           <property name="margin">
-            <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>
@@ -95,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>5</number>
+                <number>13</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4187,16 +4178,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        <string>Directory of images (optional settings)</string>
                       </property>
                       <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="leftMargin">
+                       <property name="margin">
-                        <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>
@@ -7457,20 +7439,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                        </item>
                        <item>
                         <layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
-                         <item row="3" column="1">
+                         <item row="3" column="0">
-                          <widget class="QLabel" name="label_scanMatching_4">
-                           <property name="text">
-                            <string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</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="0">
                           <widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
                            <property name="suffix">
                             <string> m</string>
@@ -7486,10 +7455,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="1">
+                         <item row="4" column="1">
-                          <widget class="QLabel" name="label_space3_3">
+                          <widget class="QLabel" name="label_scanMatching_4">
                            <property name="text">
-                            <string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore.</string>
+                            <string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -7499,7 +7468,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="3" column="0">
+                         <item row="3" column="1">
+                          <widget class="QLabel" name="label_space3_3">
+                           <property name="text">
+                            <string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection.</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="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
                            <property name="text">
                             <string/>
@@ -7529,7 +7511,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="1">
+                         <item row="6" column="1">
                           <widget class="QLabel" name="label_scanMatching_6">
                            <property name="text">
                             <string>Save scan matching IDs in link's user data.</string>
@@ -7542,14 +7524,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="5" column="0">
+                         <item row="6" column="0">
                           <widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
                            <property name="text">
                             <string/>
                            </property>
                           </widget>
                          </item>
-                         <item row="1" column="1">
+                         <item row="2" column="1">
                           <widget class="QLabel" name="label_scanMatching_8">
                            <property name="text">
                             <string>Maximum angle for visual proximity detection.</string>
@@ -7562,7 +7544,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="1" column="0">
+                         <item row="2" column="0">
                           <widget class="QDoubleSpinBox" name="localDetection_angle">
                            <property name="suffix">
                             <string> degrees</string>
@@ -7578,6 +7560,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
+                         <item row="1" column="1">
+                          <widget class="QLabel" name="label_space3_4">
+                           <property name="text">
+                            <string>Maximum paths compared (from the most recent). 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="1" column="0">
+                          <widget class="QSpinBox" name="localDetection_maxPaths">
+                           <property name="maximum">
+                            <number>999</number>
+                           </property>
+                           <property name="value">
+                            <number>0</number>
+                           </property>
+                          </widget>
+                         </item>
                         </layout>
                        </item>
                       </layout>
@@ -9373,16 +9378,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </property>
                       <widget class="QWidget" name="page_54">
                        <layout class="QVBoxLayout" name="verticalLayout_85">
-                        <property name="leftMargin">
+                        <property name="margin">
-                         <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>
@@ -9522,16 +9518,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                       </widget>
                       <widget class="QWidget" name="page_55">
                        <layout class="QVBoxLayout" name="verticalLayout_86">
-                        <property name="leftMargin">
+                        <property name="margin">
-                         <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>
@@ -9689,16 +9676,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="leftMargin">
+                        <property name="margin">
-                         <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>
@@ -9778,16 +9756,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="leftMargin">
+                        <property name="margin">
-                         <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>
@@ -9899,16 +9868,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="leftMargin">
+                        <property name="margin">
-                         <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>