Multi component view (#1729)

* Multi component view implemented except for rotations. Rotations can cause segfaults.

* Implemented: handling rotations and applied rotations on optimized poses. Addition of a notion of main component (for saves in db) abd a node selection tool.

* New feature: merge component using selected nodes

* Refactored with suggestions.

* Fixing QSet error on older Qt versions

---------

Co-authored-by: matlabbe <[email protected]>

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QMainWindow>
 #include <QtCore/QByteArray>
 #include <QtCore/QMap>
+#include <QtCore/QPointF>
 #include <QtCore/QSet>
 #include <QtGui/QImage>
 #include <opencv2/core/core.hpp>
@@ -71,6 +72,24 @@ class EditMapArea;
 class LinkRefiningDialog;
 class Registration;
 class RegistrationIcp;
+class ExportDialog;
+
+class GraphComponent
+{
+public:
+	GraphComponent() : id(0), rootId(0), firstNodeId(0), lastNodeId(0), rotationValue(0), viewScale(-1.0f), optimizationFlavor(0) {}
+
+    int id;
+    int rootId;
+	int firstNodeId;
+	int lastNodeId;
+    int rotationValue;
+    QPointF rootCoordinates;
+    float viewScale;
+    std::set<int> nodeIds;
+	std::set<int> selectedNodeIds;
+    int optimizationFlavor; 
+};
 
 class RTABMAP_GUI_EXPORT DatabaseViewer : public QMainWindow
 {
@@ -85,6 +104,10 @@ public:
 
 protected:
 	virtual void showEvent(QShowEvent* anEvent);
+
+private:
+	void backupCurrentComponent();
+
 	virtual void moveEvent(QMoveEvent* anEvent);
 	virtual void resizeEvent(QResizeEvent* anEvent);
 	virtual void keyPressEvent(QKeyEvent *event);
@@ -92,6 +115,7 @@ protected:
 	virtual bool eventFilter(QObject *obj, QEvent *event);
 
 private Q_SLOTS:
+	void updateGraphInteractionMode();
 	void writeSettings();
 	void restoreDefaultSettings();
 	void configModified();
@@ -131,6 +155,7 @@ private Q_SLOTS:
 	void view3DMap();
 	void generate3DMap();
 	void detectMoreLoopClosures();
+	void mergeComponents();
 	void updateAllNeighborCovariances();
 	void updateAllLoopClosureCovariances();
 	void updateAllLandmarkCovariances();
@@ -138,6 +163,7 @@ private Q_SLOTS:
 	void resetAllChanges();
 	void graphNodeSelected(int);
 	void graphLinkSelected(int, int);
+	void zoomToNode();
 	void sliderAValueChanged(int);
 	void sliderBValueChanged(int);
 	void sliderAMoved(int);
@@ -146,6 +172,7 @@ private Q_SLOTS:
 	void sliderNeighborValueChanged(int);
 	void sliderLoopValueChanged(int);
 	void sliderIterationsValueChanged(int);
+	void updateGraphViewRootId();
 	void editConstraint();
 	void updateGrid();
 	void updateOctomapView();
@@ -161,6 +188,12 @@ private Q_SLOTS:
 	void notifyParametersChanged(const QStringList &);
 	void setupMainLayout(bool vertical);
 	void updateConstraintButtons();
+	void optimizationIgnoredStateChanged();
+	void fitInViewClicked();
+	void tabBarComponentsValueChanged(int);
+	void regenerateGraphComponents();
+	void updateComponentSelectedNodes();
+	void clearAllSelectedNodes();
 
 private:
 	QString getIniFilePath() const;
@@ -175,7 +208,7 @@ private:
 				QLabel * label,
 				QLabel * stamp,
 				rtabmap::ImageView * view,
-				QLabel * labelId,
+				QToolButton * buttonNodeId,
 				QLabel * labelMapId,
 				QLabel * labelPose,
 				QLabel * labelOptPose,
@@ -205,7 +238,8 @@ private:
 	std::multimap<int, rtabmap::Link> updateLinksWithModifications(
 			const std::multimap<int, rtabmap::Link> & edgeConstraints);
 	void updateNeighborsSlider(int from = 0, int to = 0);
-	void updateLoopClosuresSlider(int from = 0, int to = 0);
+	void updateLoopClosuresSlider(int from, int to);
+	void updateLoopClosuresSlider();
 	void updateCovariances(const QList<Link> & links);
 	void refineLinks(const QList<Link> & links);
 	void refineConstraint(int from, int to, Registration * reg, RegistrationIcp * regIcp, bool silent);
@@ -234,6 +268,9 @@ private:
 	std::string databaseFileName_;
 	std::list<std::map<int, rtabmap::Transform> > graphes_;
 	std::multimap<int, rtabmap::Link> graphLinks_;
+	std::vector<GraphComponent> components_;
+	int activeComponentIndex_;
+	int lastValidNodeId_;
 	std::map<int, rtabmap::Transform> odomPoses_;
 	std::map<int, rtabmap::Transform> groundTruthPoses_;
 	std::map<int, rtabmap::Transform> gpsPoses_;
@@ -253,6 +290,7 @@ private:
 	QDialog * editMapDialog_;
 	EditMapArea * editMapArea_;
 	LinkRefiningDialog * linkRefiningDialog_;
+	ExportDialog * exportDataDialog_;
 
 	bool savedMaximized_;
 	bool firstCall_;

guilib/include/rtabmap/gui/ExportDialog.h

@@ -53,6 +53,8 @@ public:
 	int framesIgnored() const;
 	double targetFramerate() const;
 	int sessionExported() const;
+	bool currentComponentOnly() const;
+	bool selectedNodesOnly() const;
 	bool isRgbExported() const;
 	bool isDepthExported() const;
 	bool isDepth2dExported() const;

guilib/include/rtabmap/gui/GraphViewer.h

@@ -57,6 +57,7 @@ class RTABMAP_GUI_EXPORT GraphViewer : public QGraphicsView {
 
 public:
 	enum ViewPlane {XY, XZ, YZ};
+	enum InteractionMode {HandMode, SelectionMode};
 
 public:
 	GraphViewer(QWidget * parent = 0);
@@ -172,14 +173,21 @@ public:
 	void setOdomCacheOverlayVisible(bool visible);
 	void setOrientationENU(bool enabled);
 	void setViewPlane(ViewPlane plane);
+	void setInteractionMode(InteractionMode mode);
+	InteractionMode getInteractionMode() const {return _interactionMode;}
+	std::set<int> getSelectedNodeIds();
+	void selectNodesFromIds(const std::set<int> & ids);
 	void setEnsureFrameVisible(bool visible);
 	void setFastZoomMinNodes(int value);
+	QPointF getNodeScenePosition(int id) const;
+	void centerOnNode(int id);
 
 Q_SIGNALS:
 	void configChanged();
 	void mapShownRequested();
 	void nodeSelected(int);
 	void linkSelected(int, int);
+	void nodesSelected(); // Nodes selected by rubber band, call getSelectedNodeIds() to get ids selected
 
 public Q_SLOTS:
 	void restoreDefaults();
@@ -253,6 +261,7 @@ private:
 	bool _orientationENU;
 	bool _mouseTracking;
 	ViewPlane _viewPlane;
+	InteractionMode _interactionMode;
 	bool _ensureFrameVisible;
 	QPoint _previousMousePos;
 	QPoint _initialMousePos;

guilib/include/rtabmap/gui/LinkRefiningDialog.h

@@ -52,9 +52,13 @@ public:
 		int nodeIdMax,
 		int mapIdMin,
 		int mapIdMax);
+	
+	void setRangesEnabled(bool selectedNodes, bool currentComponent);
 
 	Link::Type getLinkType() const;
 	void getIntraInterSessions(bool & intra, bool & inter) const;
+	bool isRangeByCurrentComponent() const;
+	bool isRangeBySelectedNodeIds() const;
 	bool isRangeByNodeId() const;
 	bool isRangeByMapId() const;
 	void getRangeNodeId(int & from, int & to) const;

guilib/src/ExportDialog.cpp

@@ -47,6 +47,7 @@ ExportDialog::ExportDialog(QWidget * parent) :
 	connect(_ui->spinBox_ignored, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_framerate, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_session, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->checkBox_selected_nodes, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_rgb, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_depth, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_depth2d, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -70,6 +71,8 @@ void ExportDialog::saveSettings(QSettings & settings, const QString & group) con
 	settings.setValue("framesIgnored", this->framesIgnored());
 	settings.setValue("targetFramerate", this->targetFramerate());
 	settings.setValue("sessionExported", this->sessionExported());
+	settings.setValue("currentComponentOnly", this->currentComponentOnly());
+	settings.setValue("selectedNodesOnly", this->selectedNodesOnly());
 	settings.setValue("rgbExported", this->isRgbExported());
 	settings.setValue("depthExported", this->isDepthExported());
 	settings.setValue("depth2dExported", this->isDepth2dExported());
@@ -90,6 +93,8 @@ void ExportDialog::loadSettings(QSettings & settings, const QString & group)
 	_ui->spinBox_ignored->setValue(settings.value("framesIgnored", this->framesIgnored()).toInt());
 	_ui->doubleSpinBox_framerate->setValue(settings.value("targetFramerate", this->targetFramerate()).toDouble());
 	_ui->spinBox_session->setValue(settings.value("sessionExported", this->sessionExported()).toInt());
+	_ui->checkBox_current_component->setChecked(settings.value("currentComponentOnly", this->currentComponentOnly()).toBool());
+	_ui->checkBox_selected_nodes->setChecked(settings.value("selectedNodesOnly", this->selectedNodesOnly()).toBool());
 	_ui->checkBox_rgb->setChecked(settings.value("rgbExported", this->isRgbExported()).toBool());
 	_ui->checkBox_depth->setChecked(settings.value("depthExported", this->isDepthExported()).toBool());
 	_ui->checkBox_depth2d->setChecked(settings.value("depth2dExported", this->isDepth2dExported()).toBool());
@@ -106,6 +111,8 @@ void ExportDialog::restoreDefaults()
 	_ui->spinBox_ignored->setValue(0);
 	_ui->doubleSpinBox_framerate->setValue(0);
 	_ui->spinBox_session->setValue(-1);
+	_ui->checkBox_current_component->setChecked(false);
+	_ui->checkBox_selected_nodes->setChecked(false);
 	_ui->checkBox_rgb->setChecked(true);
 	_ui->checkBox_depth->setChecked(true);
 	_ui->checkBox_depth2d->setChecked(true);
@@ -142,6 +149,16 @@ int ExportDialog::sessionExported() const
 	return _ui->spinBox_session->value();
 }
 
+bool ExportDialog::currentComponentOnly() const
+{
+	return _ui->checkBox_current_component->isChecked();
+}
+
+bool ExportDialog::selectedNodesOnly() const
+{
+	return _ui->checkBox_selected_nodes->isChecked();
+}
+
 bool ExportDialog::isRgbExported() const
 {
 	return _ui->checkBox_rgb->isChecked();

guilib/src/GraphViewer.cpp

@@ -342,6 +342,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
 		_orientationENU(false),
 		_mouseTracking(false),
 		_viewPlane(XY),
+		_interactionMode(HandMode),
 		_ensureFrameVisible(true),
 		_previousMousePos(-1,-1),
 		_initialMousePos(-1,-1),
@@ -388,6 +389,7 @@ void GraphViewer::setupGraphicsScene()
 	_zoomOverlayItem->setVisible(false);
 	_zoomOverlayItem->setAcceptedMouseButtons(Qt::NoButton);
 	_zoomOverlayItem->setAcceptHoverEvents(false);
+	connect(this->scene(), &QGraphicsScene::selectionChanged, this, &GraphViewer::nodesSelected);
 	
 	_world = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
 	_root = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
@@ -664,6 +666,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 			item->setZValue(iter->first<0?21:20);
 			item->setColor(color);
 			item->setParentItem(_graphRoot);
+			item->setFlag(QGraphicsItem::ItemIsSelectable, iter->first>0 && _interactionMode == SelectionMode);
 			item->show();
 			_nodeItems.insert(iter->first, item);
 			++iter;
@@ -674,6 +677,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 			// NodeItem exists for the pose, copy data and increase both iterators
 			UASSERT(iter->first == nter.key());
 			nter.value()->setColor(color); // reset color
+			nter.value()->setFlag(QGraphicsItem::ItemIsSelectable, iter->first > 0 && _interactionMode == SelectionMode);
 			nter.value()->setToolTipInfo(QString());
 			nter.value()->setZValue(iter->first<0?21:20);
 			nter.value()->setPose(iter->second, _viewPlane);
@@ -937,6 +941,7 @@ void GraphViewer::updateGTGraph(const std::map<int, Transform> & poses)
 					item->setZValue(20);
 					item->setColor(_gtPathColor);
 					item->setParentItem(_gtGraphRoot);
+					item->setFlag(QGraphicsItem::ItemIsSelectable, false);
 					item->setVisible(_nodeVisible);
 					_gtNodeItems.insert(iter->first, item);
 				}
@@ -1071,6 +1076,7 @@ void GraphViewer::updateGPSGraph(
 					item->setZValue(20);
 					item->setColor(_gpsPathColor);
 					item->setParentItem(_gpsGraphRoot);
+					item->setFlag(QGraphicsItem::ItemIsSelectable, false);
 					item->setVisible(_nodeVisible);
 					_gpsNodeItems.insert(iter->first, item);
 				}
@@ -1453,6 +1459,48 @@ void GraphViewer::highlightNode(int nodeId, int highlightIndex)
 	}
 }
 
+std::set<int> GraphViewer::getSelectedNodeIds()
+{
+	std::set<int> ids;
+	for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter != _nodeItems.end(); iter++)
+	{
+		if(iter.value() && iter.value()->isSelected()) 
+			ids.insert(iter.key());
+	}
+	return ids;
+}
+
+void GraphViewer::selectNodesFromIds(const std::set<int> & ids)
+{
+    this->scene()->blockSignals(true);
+
+    for (QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter != _nodeItems.end(); ++iter)
+    {
+		if(iter.value() && iter.key()>0)
+			iter.value()->setSelected(ids.find(iter.key()) != ids.end());
+    }
+
+    this->scene()->blockSignals(false);
+}
+
+void GraphViewer::setInteractionMode(InteractionMode mode)
+{
+	if(_interactionMode == mode)
+	{
+		return;
+	}
+	_interactionMode = mode;
+	this->setDragMode(mode == HandMode ? QGraphicsView::ScrollHandDrag : QGraphicsView::RubberBandDrag);
+	this->setRubberBandSelectionMode(Qt::IntersectsItemShape);
+	for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter != _nodeItems.end(); iter++)
+	{
+		if(iter.key()>0 && iter.value())
+		{
+			iter.value()->setFlag(QGraphicsItem::ItemIsSelectable, mode == SelectionMode);
+		}
+	}
+}
+
 void GraphViewer::clearGraph()
 {
 	qDeleteAll(_nodeItems);
@@ -1566,6 +1614,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
 	settings.setValue("odom_cache_overlay", this->isOdomCacheOverlayVisible());
 	settings.setValue("orientation_ENU", this->isOrientationENU());
 	settings.setValue("view_plane", (int)this->getViewPlane());
+	settings.setValue("interaction_mode", (int)this->getInteractionMode());
 	settings.setValue("ensure_frame_visible", (int)this->isEnsureFrameVisible());
 	settings.setValue("fast_zoom_min_nodes", this->getFastZoomMinNodes());
 	if(!group.isEmpty())
@@ -1618,6 +1667,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
 	this->setOdomCacheOverlayVisible(settings.value("odom_cache_overlay", this->isOdomCacheOverlayVisible()).toBool());
 	this->setOrientationENU(settings.value("orientation_ENU", this->isOrientationENU()).toBool());
 	this->setViewPlane((ViewPlane)settings.value("view_plane", (int)this->getViewPlane()).toInt());
+	this->setInteractionMode((InteractionMode)settings.value("interaction_mode", (int)this->getInteractionMode()).toInt());
 	this->setEnsureFrameVisible(settings.value("ensure_frame_visible", this->isEnsureFrameVisible()).toBool());
 	this->setFastZoomMinNodes(settings.value("fast_zoom_min_nodes", this->getFastZoomMinNodes()).toInt());
 	if(!group.isEmpty())
@@ -2087,6 +2137,7 @@ void GraphViewer::restoreDefaults()
 	setLocalPathVisible(true);
 	setGtGraphVisible(true);
 	setFastZoomMinNodes(0);
+	setInteractionMode(HandMode);
 }
 
 void GraphViewer::wheelEvent(QWheelEvent * event)
@@ -2123,7 +2174,7 @@ void GraphViewer::mouseMoveEvent(QMouseEvent * event)
 	{
 		QToolTip::hideText();
 	}
-	if (event->modifiers() & (Qt::ShiftModifier | Qt::ControlModifier) && event->buttons() & Qt::LeftButton) {
+	if (_interactionMode == HandMode && event->modifiers() & (Qt::ShiftModifier | Qt::ControlModifier) && event->buttons() & Qt::LeftButton) {
 		// same modifiers than 3D view, change zoom
 		if(_previousMousePos.y()!=0) {
 			qreal factor = (event->pos().y() - _previousMousePos.y() > 0) ? 0.98 : 1.02;
@@ -2200,6 +2251,25 @@ QIcon createIcon(const QColor & color)
 	return QIcon(pixmap);
 }
 
+QPointF GraphViewer::getNodeScenePosition(int id) const
+{
+	NodeItem * item = _nodeItems.value(id, 0);
+	if(item)
+	{
+		return item->sceneBoundingRect().center();
+	}
+	return QPointF();
+}
+
+void GraphViewer::centerOnNode(int id)
+{
+	QPointF center = this->getNodeScenePosition(id);
+	if(!center.isNull())
+	{
+		this->centerOn(center);
+	}
+}
+
 void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 {
 	QMenu menu;

guilib/src/LinkRefiningDialog.cpp

@@ -87,6 +87,20 @@ void LinkRefiningDialog::setMinMax(
 		restoreDefaults();
 	}
 }
+void LinkRefiningDialog::setRangesEnabled(bool selectedNodes, bool currentComponent)
+{
+	ui_->radioButton_selected_nodes->setEnabled(selectedNodes);
+	if(!selectedNodes && ui_->radioButton_selected_nodes->isChecked())
+	{
+		ui_->radioButton_nodes->setChecked(true);
+	}
+
+	ui_->radioButton_current_component->setEnabled(currentComponent);
+	if(!currentComponent && ui_->radioButton_current_component->isChecked())
+	{
+		ui_->radioButton_nodes->setChecked(true);
+	}
+}
 
 Link::Type LinkRefiningDialog::getLinkType() const
 {
@@ -103,6 +117,16 @@ void LinkRefiningDialog::getIntraInterSessions(bool & intra, bool & inter) const
 	inter = ui_->comboBox_link_inter_intra->currentIndex() == 0 || ui_->comboBox_link_inter_intra->currentIndex() == 2;
 }
 
+bool LinkRefiningDialog::isRangeByCurrentComponent() const
+{
+	return ui_->radioButton_current_component->isChecked();
+}
+
+bool LinkRefiningDialog::isRangeBySelectedNodeIds() const
+{
+	return ui_->radioButton_selected_nodes->isChecked();
+}
+
 bool LinkRefiningDialog::isRangeByNodeId() const
 {
 	return ui_->radioButton_nodes->isChecked();

guilib/src/ui/DatabaseViewer.ui

@@ -61,7 +61,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>364</width>
+           <width>344</width>
            <height>389</height>
           </rect>
          </property>
@@ -392,7 +392,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>364</width>
+           <width>343</width>
            <height>389</height>
           </rect>
          </property>
@@ -752,10 +752,19 @@
            </widget>
           </item>
           <item>
-           <widget class="QLabel" name="label_idA">
+           <widget class="QToolButton" name="button_nodeIdA">
+            <property name="toolTip">
+             <string>Click to locate in Graph View</string>
+            </property>
             <property name="text">
              <string>idA</string>
             </property>
+            <property name="toolButtonStyle">
+             <enum>Qt::ToolButtonTextOnly</enum>
+            </property>
+            <property name="autoRaise">
+             <bool>true</bool>
+            </property>
            </widget>
           </item>
          </layout>
@@ -835,10 +844,19 @@
               </widget>
              </item>
              <item>
-              <widget class="QLabel" name="label_idB">
+              <widget class="QToolButton" name="button_nodeIdB">
+               <property name="toolTip">
+                <string>Click to locate in Graph View</string>
+               </property>
                <property name="text">
                 <string>idB</string>
                </property>
+               <property name="toolButtonStyle">
+                <enum>Qt::ToolButtonTextOnly</enum>
+               </property>
+               <property name="autoRaise">
+                <bool>true</bool>
+               </property>
               </widget>
              </item>
             </layout>
@@ -914,10 +932,10 @@
     <addaction name="actionRestore_default_GUI_settings"/>
     <addaction name="separator"/>
     <addaction name="actionGenerate_3D_map_pcd"/>
-    <addaction name="actionExport"/>
     <addaction name="actionExtract_images"/>
     <addaction name="menuExport_poses"/>
     <addaction name="menuExport_GPS"/>
+    <addaction name="actionExport"/>
     <addaction name="separator"/>
     <addaction name="actionEdit_optimized_2D_map"/>
     <addaction name="actionExport_saved_2D_map"/>
@@ -937,6 +955,7 @@
     <addaction name="actionGenerate_graph_dot"/>
     <addaction name="actionGenerate_local_graph_dot"/>
     <addaction name="separator"/>
+    <addaction name="actionMerge_components_using_selected_nodes"/>
     <addaction name="actionDetect_more_loop_closures"/>
     <addaction name="actionRefine_links"/>
     <addaction name="actionUpdate_all_neighbor_covariances"/>
@@ -948,6 +967,7 @@
     <addaction name="separator"/>
     <addaction name="actionEdit_depth_image"/>
     <addaction name="separator"/>
+    <addaction name="actionClear_all_selected_nodes"/>
     <addaction name="actionReset_all_changes"/>
     <addaction name="separator"/>
     <addaction name="actionView_3D_map"/>
@@ -1198,7 +1218,17 @@
       </layout>
      </item>
      <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_5">
+      <layout class="QHBoxLayout" name="horizontalLayout_23">
+       <item>
+        <widget class="QCheckBox" name="checkBox_optimize_on_all_changes">
+         <property name="toolTip">
+          <string>Re-optimize the graph right away after using any of these actions</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
        <item>
         <widget class="QPushButton" name="pushButton_refine">
          <property name="toolTip">
@@ -1217,20 +1247,44 @@
         </widget>
        </item>
        <item>
-        <widget class="QPushButton" name="pushButton_add">
-         <property name="text">
-          <string>Add</string>
+        <widget class="QFrame" name="frame">
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QCheckBox" name="checkBox_enableForAll">
-         <property name="toolTip">
-          <string>Enable &quot;Add&quot; for all nodes (even not in graph)</string>
-         </property>
-         <property name="text">
-          <string/>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
          </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_5">
+          <property name="leftMargin">
+           <number>0</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>0</number>
+          </property>
+          <item>
+           <widget class="QPushButton" name="pushButton_add">
+            <property name="text">
+             <string>Add</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="checkBox_enableForAll">
+            <property name="toolTip">
+             <string>Enable &quot;Add&quot; for all nodes (even not in graph)</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+         </layout>
         </widget>
        </item>
        <item>
@@ -1247,7 +1301,7 @@
          </property>
          <property name="sizeHint" stdset="0">
           <size>
-           <width>0</width>
+           <width>13</width>
            <height>20</height>
           </size>
          </property>
@@ -1267,9 +1321,74 @@
    </attribute>
    <widget class="QWidget" name="dockWidget_graphContents">
     <layout class="QVBoxLayout" name="verticalLayout_9">
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_21">
+       <item>
+        <widget class="QLabel" name="label_8">
+         <property name="text">
+          <string>Interaction mode:</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="radioButton_graphHand">
+         <property name="text">
+          <string>Hand / Move</string>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="radioButton_graphSelection">
+         <property name="text">
+          <string>Selection</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer_9">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>0</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </item>
      <item>
       <widget class="rtabmap::GraphViewer" name="graphViewer"/>
      </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_22" stretch="0,1">
+       <item>
+        <widget class="QLabel" name="graphComponentText">
+         <property name="text">
+          <string>Graph component</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QTabBar" name="tabBar_components" native="true">
+         <property name="documentMode" stdset="0">
+          <bool>true</bool>
+         </property>
+         <property name="usesScrollButtons" stdset="0">
+          <bool>true</bool>
+         </property>
+         <property name="expanding" stdset="0">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
      <item>
       <widget class="QWidget" name="widget_graphControl" native="true">
        <layout class="QVBoxLayout" name="verticalLayout_61">
@@ -1292,6 +1411,9 @@
          <layout class="QVBoxLayout" name="verticalLayout_91">
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_15">
+            <property name="spacing">
+             <number>6</number>
+            </property>
             <item>
              <widget class="QLabel" name="label_rotation">
               <property name="text">
@@ -1337,7 +1459,13 @@
            </layout>
           </item>
           <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_4">
+           <layout class="QHBoxLayout" name="horizontalLayout_20"/>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,0,0,0">
+            <property name="spacing">
+             <number>6</number>
+            </property>
             <item>
              <widget class="QLabel" name="label_iterations">
               <property name="text">
@@ -1380,10 +1508,23 @@
               </item>
              </widget>
             </item>
+            <item>
+             <widget class="QCheckBox" name="checkBox_fit_in_view">
+              <property name="toolTip">
+               <string>After any graph changes, re-zoom to fit the whole map in the view</string>
+              </property>
+              <property name="text">
+               <string>Fit in view</string>
+              </property>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>
            <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
+            <property name="horizontalSpacing">
+             <number>6</number>
+            </property>
             <item row="1" column="1">
              <widget class="QLabel" name="label_alignPosesWithGPS">
               <property name="text">
@@ -1467,6 +1608,9 @@
             </item>
             <item row="0" column="1">
              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,1">
+              <property name="spacing">
+               <number>6</number>
+              </property>
               <item>
                <widget class="QLabel" name="label_optimizeFrom">
                 <property name="text">
@@ -1722,7 +1866,7 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>2</number>
+        <number>0</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
@@ -1737,8 +1881,25 @@
          <string>Graph optimization</string>
         </attribute>
         <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
-         <item row="2" column="0">
-          <widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
+         <item row="1" column="2">
+          <widget class="QLabel" name="label_35">
+           <property name="text">
+            <string>Ignore pose correction</string>
+           </property>
+          </widget>
+         </item>
+         <item row="6" column="0">
+          <widget class="QCheckBox" name="checkBox_ignoreLandmarks">
+           <property name="text">
+            <string/>
+           </property>
+           <property name="checked">
+            <bool>false</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="0">
+          <widget class="QCheckBox" name="checkBox_ignoreUserLoop">
            <property name="text">
             <string/>
            </property>
@@ -1754,16 +1915,6 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="0">
-          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
-           <property name="text">
-            <string/>
-           </property>
-           <property name="checked">
-            <bool>false</bool>
-           </property>
-          </widget>
-         </item>
          <item row="2" column="2">
           <widget class="QLabel" name="label_48">
            <property name="text">
@@ -1771,15 +1922,8 @@
            </property>
           </widget>
          </item>
-         <item row="1" column="2">
-          <widget class="QLabel" name="label_35">
-           <property name="text">
-            <string>Ignore pose correction</string>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="0">
-          <widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
+         <item row="2" column="0">
+          <widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
            <property name="text">
             <string/>
            </property>
@@ -1788,13 +1932,10 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="0">
-          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
+         <item row="6" column="2">
+          <widget class="QLabel" name="label_58">
            <property name="text">
-            <string/>
-           </property>
-           <property name="checked">
-            <bool>false</bool>
+            <string>Ignore landmarks</string>
            </property>
           </widget>
          </item>
@@ -1811,8 +1952,15 @@
            </property>
           </spacer>
          </item>
-         <item row="5" column="0">
-          <widget class="QCheckBox" name="checkBox_ignoreUserLoop">
+         <item row="3" column="2">
+          <widget class="QLabel" name="label_47">
+           <property name="text">
+            <string>Ignore local loop closures (space)</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
            <property name="text">
             <string/>
            </property>
@@ -1828,20 +1976,6 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="2">
-          <widget class="QLabel" name="label_47">
-           <property name="text">
-            <string>Ignore local loop closures (space)</string>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="2">
-          <widget class="QLabel" name="label_scale_title">
-           <property name="text">
-            <string>Scale</string>
-           </property>
-          </widget>
-         </item>
          <item row="0" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_optimizationScale">
            <property name="decimals">
@@ -1861,15 +1995,25 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="2">
-          <widget class="QLabel" name="label_58">
+         <item row="4" column="0">
+          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
            <property name="text">
-            <string>Ignore landmarks</string>
+            <string/>
+           </property>
+           <property name="checked">
+            <bool>false</bool>
            </property>
           </widget>
          </item>
-         <item row="6" column="0">
-          <widget class="QCheckBox" name="checkBox_ignoreLandmarks">
+         <item row="0" column="2">
+          <widget class="QLabel" name="label_scale_title">
+           <property name="text">
+            <string>Scale</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
            <property name="text">
             <string/>
            </property>
@@ -2604,7 +2748,7 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>-175</y>
+          <y>0</y>
           <width>403</width>
           <height>319</height>
          </rect>
@@ -2613,54 +2757,13 @@
          <string>Detect more loop closures</string>
         </attribute>
         <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
-         <item row="2" column="1">
-          <widget class="QLabel" name="label_30">
+         <item row="3" column="1">
+          <widget class="QLabel" name="label_31">
            <property name="text">
-            <string>Angle</string>
+            <string>Iterations</string>
            </property>
           </widget>
          </item>
-         <item row="5" column="1">
-          <widget class="QLabel" name="label_34">
-           <property name="text">
-            <string>Inter-session</string>
-           </property>
-          </widget>
-         </item>
-         <item row="5" column="0">
-          <widget class="QCheckBox" name="checkBox_detectMore_interSession">
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="1">
-          <widget class="QLabel" name="label_29">
-           <property name="text">
-            <string>Radius Max</string>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="1">
-          <widget class="QLabel" name="label_32">
-           <property name="text">
-            <string>Intra-session</string>
-           </property>
-          </widget>
-         </item>
-         <item row="9" column="0">
-          <spacer name="verticalSpacer_5">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
          <item row="2" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
            <property name="suffix">
@@ -2680,10 +2783,29 @@
            </property>
           </widget>
          </item>
-         <item row="1" column="1">
-          <widget class="QLabel" name="label_36">
-           <property name="text">
-            <string>Radius Min</string>
+         <item row="7" column="0">
+          <widget class="QSpinBox" name="spinBox_fromToMapId">
+           <property name="minimum">
+            <number>-1</number>
+           </property>
+           <property name="maximum">
+            <number>9999</number>
+           </property>
+           <property name="value">
+            <number>-1</number>
+           </property>
+          </widget>
+         </item>
+         <item row="8" column="0">
+          <widget class="QSpinBox" name="spinBox_minGraphDistance">
+           <property name="minimum">
+            <number>1</number>
+           </property>
+           <property name="maximum">
+            <number>9999</number>
+           </property>
+           <property name="value">
+            <number>10</number>
            </property>
           </widget>
          </item>
@@ -2700,6 +2822,39 @@
            </property>
           </widget>
          </item>
+         <item row="5" column="0">
+          <widget class="QCheckBox" name="checkBox_detectMore_interSession">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
+           <property name="suffix">
+            <string> m</string>
+           </property>
+           <property name="decimals">
+            <number>2</number>
+           </property>
+           <property name="maximum">
+            <double>10.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.100000000000000</double>
+           </property>
+           <property name="value">
+            <double>1.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="1">
+          <widget class="QLabel" name="label_34">
+           <property name="text">
+            <string>Inter-session</string>
+           </property>
+          </widget>
+         </item>
          <item row="7" column="1">
           <widget class="QLabel" name="label_38">
            <property name="text">
@@ -2707,20 +2862,23 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="1">
-          <widget class="QLabel" name="label_31">
-           <property name="text">
-            <string>Iterations</string>
+         <item row="9" column="0">
+          <spacer name="verticalSpacer_5">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
            </property>
-          </widget>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
          </item>
-         <item row="6" column="0">
-          <widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_29">
            <property name="text">
-            <string/>
-           </property>
-           <property name="checked">
-            <bool>true</bool>
+            <string>Radius Max</string>
            </property>
           </widget>
          </item>
@@ -2750,6 +2908,16 @@
            </property>
           </widget>
          </item>
+         <item row="6" column="0">
+          <widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
+           <property name="text">
+            <string/>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
          <item row="6" column="1">
           <widget class="QLabel" name="label_37">
            <property name="text">
@@ -2760,38 +2928,6 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="0">
-          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
-           <property name="suffix">
-            <string> m</string>
-           </property>
-           <property name="decimals">
-            <number>2</number>
-           </property>
-           <property name="maximum">
-            <double>10.000000000000000</double>
-           </property>
-           <property name="singleStep">
-            <double>0.100000000000000</double>
-           </property>
-           <property name="value">
-            <double>1.000000000000000</double>
-           </property>
-          </widget>
-         </item>
-         <item row="7" column="0">
-          <widget class="QSpinBox" name="spinBox_fromToMapId">
-           <property name="minimum">
-            <number>-1</number>
-           </property>
-           <property name="maximum">
-            <number>9999</number>
-           </property>
-           <property name="value">
-            <number>-1</number>
-           </property>
-          </widget>
-         </item>
          <item row="8" column="1">
           <widget class="QLabel" name="label_40">
            <property name="text">
@@ -2799,16 +2935,24 @@
            </property>
           </widget>
          </item>
-         <item row="8" column="0">
-          <widget class="QSpinBox" name="spinBox_minGraphDistance">
-           <property name="minimum">
-            <number>1</number>
+         <item row="2" column="1">
+          <widget class="QLabel" name="label_30">
+           <property name="text">
+            <string>Angle</string>
            </property>
-           <property name="maximum">
-            <number>9999</number>
+          </widget>
+         </item>
+         <item row="4" column="1">
+          <widget class="QLabel" name="label_32">
+           <property name="text">
+            <string>Intra-session</string>
            </property>
-           <property name="value">
-            <number>10</number>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QLabel" name="label_36">
+           <property name="text">
+            <string>Radius Min</string>
            </property>
           </widget>
          </item>
@@ -3021,7 +3165,7 @@
          </property>
          <property name="sizeHint" stdset="0">
           <size>
-           <width>40</width>
+           <width>0</width>
            <height>20</height>
           </size>
          </property>
@@ -3391,7 +3535,7 @@
   </action>
   <action name="actionGenerate_3D_map_pcd">
    <property name="text">
-    <string>Export 3D map (*.ply *.pcd) ...</string>
+    <string>Export 3D map (*.ply *.pcd)...</string>
    </property>
   </action>
   <action name="actionExport">
@@ -3557,6 +3701,9 @@
    <property name="text">
     <string>Update optimized mesh...</string>
    </property>
+   <property name="toolTip">
+    <string>Available only for the Main component</string>
+   </property>
   </action>
   <action name="actionUpdate_all_neighbor_covariances">
    <property name="text">
@@ -3585,6 +3732,9 @@
    <property name="text">
     <string>Regenerate optimized 2D map...</string>
    </property>
+   <property name="toolTip">
+    <string>Available only for the Main component</string>
+   </property>
   </action>
   <action name="actionRGBD_SLAM_ID_format_txt">
    <property name="text">
@@ -3596,6 +3746,16 @@
     <string>Update all landmark covariances...</string>
    </property>
   </action>
+  <action name="actionMerge_components_using_selected_nodes">
+   <property name="text">
+    <string>Merge components...</string>
+   </property>
+  </action>
+  <action name="actionClear_all_selected_nodes">
+   <property name="text">
+    <string>Clear all selected nodes</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>
@@ -3620,6 +3780,11 @@
    <header>../include/rtabmap/gui/ParametersToolBox.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>QTabBar</class>
+   <extends>QWidget</extends>
+   <header>qtabbar.h</header>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>

guilib/src/ui/exportDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>382</width>
-    <height>331</height>
+    <width>333</width>
+    <height>520</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -15,178 +15,199 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QSpinBox" name="spinBox_ignored">
-       <property name="suffix">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLabel" name="label">
-       <property name="text">
-        <string>Frames ignored</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_4">
-     <item>
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_framerate">
-       <property name="suffix">
-        <string> Hz</string>
-       </property>
-       <property name="decimals">
-        <number>1</number>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLabel" name="label_3">
-       <property name="text">
-        <string>Target frame rate</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_3">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_3">
-     <item>
-      <widget class="QSpinBox" name="spinBox_session">
-       <property name="suffix">
-        <string/>
-       </property>
-       <property name="minimum">
-        <number>-1</number>
-       </property>
-       <property name="maximum">
-        <number>999</number>
-       </property>
-       <property name="value">
-        <number>-1</number>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLabel" name="label_2">
-       <property name="text">
-        <string>Mapping session (-1 = all)</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <widget class="QCheckBox" name="checkBox_rgb">
-     <property name="text">
-      <string>RGB images</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>Selection</string>
      </property>
+     <layout class="QFormLayout" name="formLayout">
+      <item row="0" column="0">
+       <widget class="QSpinBox" name="spinBox_session">
+        <property name="suffix">
+         <string/>
+        </property>
+        <property name="minimum">
+         <number>-1</number>
+        </property>
+        <property name="maximum">
+         <number>999</number>
+        </property>
+        <property name="value">
+         <number>-1</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>Mapping session (-1 = all)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QCheckBox" name="checkBox_selected_nodes">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Selected nodes</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Current component only</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QCheckBox" name="checkBox_current_component">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
    <item>
-    <widget class="QCheckBox" name="checkBox_depth">
-     <property name="text">
-      <string>Depth images</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Filtering</string>
      </property>
+     <layout class="QFormLayout" name="formLayout_2">
+      <item row="0" column="0">
+       <widget class="QSpinBox" name="spinBox_ignored">
+        <property name="suffix">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Nodes ignored</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_framerate">
+        <property name="suffix">
+         <string> Hz</string>
+        </property>
+        <property name="decimals">
+         <number>1</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Target frame rate</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
    <item>
-    <widget class="QCheckBox" name="checkBox_depth2d">
-     <property name="text">
-      <string>Laser scans</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Data</string>
      </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QCheckBox" name="checkBox_rgb">
+        <property name="text">
+         <string>RGB images</string>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="checkBox_depth">
+        <property name="text">
+         <string>Depth images</string>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="checkBox_depth2d">
+        <property name="text">
+         <string>Laser scans</string>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="checkBox_odom">
+        <property name="text">
+         <string>Odometry</string>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="checkBox_userData">
+        <property name="text">
+         <string>User data (planned goals)</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
    <item>
-    <widget class="QCheckBox" name="checkBox_odom">
-     <property name="text">
-      <string>Odometry</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
+    <widget class="QGroupBox" name="groupBox_4">
+     <property name="title">
+      <string>Output Path</string>
      </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <widget class="QLineEdit" name="lineEdit_path">
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QToolButton" name="toolButton_path">
+        <property name="text">
+         <string>...</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
-   <item>
-    <widget class="QCheckBox" name="checkBox_userData">
-     <property name="text">
-      <string>User data (planned goals)</string>
-     </property>
-     <property name="checked">
-      <bool>false</bool>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QLineEdit" name="lineEdit_path">
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QToolButton" name="toolButton_path">
-       <property name="text">
-        <string>...</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
    <item>
     <spacer name="verticalSpacer">
      <property name="orientation">

guilib/src/ui/linkRefiningDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>333</width>
-    <height>286</height>
+    <width>369</width>
+    <height>344</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -51,28 +51,21 @@
       <string>Range</string>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="1">
+      <item row="1" column="1">
        <widget class="QLabel" name="label_3">
         <property name="text">
          <string>From</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_2">
+      <item row="3" column="0">
+       <widget class="QRadioButton" name="radioButton_maps">
         <property name="text">
-         <string>To</string>
+         <string>Maps:</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QRadioButton" name="radioButton_nodes">
-        <property name="text">
-         <string>Nodes:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
+      <item row="2" column="1">
        <widget class="QSpinBox" name="spinBox_node_from">
         <property name="minimum">
          <number>1</number>
@@ -82,7 +75,7 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="2">
+      <item row="2" column="2">
        <widget class="QSpinBox" name="spinBox_node_to">
         <property name="minimum">
          <number>1</number>
@@ -92,14 +85,21 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QRadioButton" name="radioButton_maps">
+      <item row="4" column="0">
+       <widget class="QRadioButton" name="radioButton_selected_nodes">
         <property name="text">
-         <string>Maps:</string>
+         <string>Nodes selected</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
+      <item row="1" column="2">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>To</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
        <widget class="QSpinBox" name="spinBox_map_from">
         <property name="minimum">
          <number>0</number>
@@ -112,7 +112,7 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="2">
+      <item row="3" column="2">
        <widget class="QSpinBox" name="spinBox_map_to">
         <property name="minimum">
          <number>0</number>
@@ -125,6 +125,20 @@
         </property>
        </widget>
       </item>
+      <item row="2" column="0">
+       <widget class="QRadioButton" name="radioButton_nodes">
+        <property name="text">
+         <string>Nodes:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QRadioButton" name="radioButton_current_component">
+        <property name="text">
+         <string>Current component</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>