Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

guilib/include/rtabmap/gui/CloudViewer.h

@@ -197,7 +197,7 @@ public:
 			const std::string & id,
 			const Transform & transform);
 	void removeCoordinate(const std::string & id);
-	void removeAllCoordinates();
+	void removeAllCoordinates(const std::string & prefix = "");
 	const std::set<std::string> & getAddedCoordinates() const {return _coordinates;}
 
 	void addOrUpdateLine(

guilib/include/rtabmap/gui/GraphViewer.h

@@ -128,6 +128,7 @@ public:
 	void setUserLoopClosureColor(const QColor & color);
 	void setVirtualLoopClosureColor(const QColor & color);
 	void setNeighborMergedColor(const QColor & color);
+	void setLandmarkColor(const QColor & color);
 	void setRejectedLoopClosureColor(const QColor & color);
 	void setLocalPathColor(const QColor & color);
 	void setGlobalPathColor(const QColor & color);
@@ -170,6 +171,7 @@ private:
 	QColor _loopClosureUserColor;
 	QColor _loopClosureVirtualColor;
 	QColor _neighborMergedColor;
+	QColor _landmarkColor;
 	QColor _loopClosureRejectedColor;
 	QColor _localPathColor;
 	QColor _globalPathColor;

guilib/include/rtabmap/gui/MainWindow.h

@@ -261,6 +261,7 @@ private:
 	void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
 	Transform alignPosesToGroundTruth(const std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
+	void drawLandmarks(cv::Mat & image, const Signature & signature);
 	void setupMainLayout(bool vertical);
 	void updateSelectSourceMenu();
 	void applyPrefSettings(const rtabmap::ParametersMap & parameters, bool postParamEvent);

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -163,6 +163,9 @@ public:
 
 	bool isGraphsShown() const;
 	bool isLabelsShown() const;
+	bool isLandmarksShown() const;
+	bool isMarkerDetection() const;
+	double getMarkerLength() const;
 	double getVoxel() const;
 	double getNoiseRadius() const;
 	int getNoiseMinNeighbors() const;

guilib/src/CloudViewer.cpp

@@ -1328,14 +1328,17 @@ void CloudViewer::removeCoordinate(const std::string & id)
 	}
 }
 
-void CloudViewer::removeAllCoordinates()
+void CloudViewer::removeAllCoordinates(const std::string & prefix)
 {
 	std::set<std::string> coordinates = _coordinates;
 	for(std::set<std::string>::iterator iter = coordinates.begin(); iter!=coordinates.end(); ++iter)
 	{
-		this->removeCoordinate(*iter);
+		if(prefix.empty() || iter->find(prefix) != std::string::npos)
+		{
+			this->removeCoordinate(*iter);
+		}
 	}
-	UASSERT(_coordinates.empty());
+	UASSERT(!prefix.empty() || _coordinates.empty());
 }
 
 void CloudViewer::addOrUpdateLine(

guilib/src/GraphViewer.cpp

@@ -243,6 +243,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
 		_loopClosureUserColor(Qt::red),
 		_loopClosureVirtualColor(Qt::magenta),
 		_neighborMergedColor(QColor(255,170,0)),
+		_landmarkColor(Qt::darkGreen),
 		_loopClosureRejectedColor(Qt::black),
 		_localPathColor(Qt::cyan),
 		_globalPathColor(Qt::darkMagenta),
@@ -478,6 +479,10 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 				{
 					linkItem->setColor(_loopClosureUserColor);
 				}
+				else if(iter->second.type() == Link::kLandmark)
+				{
+					linkItem->setColor(_landmarkColor);
+				}
 				else if(iter->second.type() == Link::kLocalSpaceClosure || iter->second.type() == Link::kLocalTimeClosure)
 				{
 					if(_intraInterSessionColors)
@@ -1331,6 +1336,17 @@ void GraphViewer::setNeighborMergedColor(const QColor & color)
 		}
 	}
 }
+void GraphViewer::setLandmarkColor(const QColor & color)
+{
+	_landmarkColor = color;
+	for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
+	{
+		if(iter.value()->linkType() == Link::kLandmark)
+		{
+			iter.value()->setColor(_landmarkColor);
+		}
+	}
+}
 void GraphViewer::setRejectedLoopClosureColor(const QColor & color)
 {
 	_loopClosureRejectedColor = color;
@@ -1497,6 +1513,7 @@ void GraphViewer::restoreDefaults()
 	setUserLoopClosureColor(Qt::red);
 	setVirtualLoopClosureColor(Qt::magenta);
 	setNeighborMergedColor(QColor(255,170,0));
+	setLandmarkColor(Qt::darkGreen);
 	setGridMapVisible(true);
 	setGraphVisible(true);
 	setGlobalPathVisible(true);
@@ -1546,6 +1563,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 	QAction * aChangeUserLoopColor = menuLink->addAction(tr("User loop closure"));
 	QAction * aChangeVirtualLoopColor = menuLink->addAction(tr("Virtual loop closure"));
 	QAction * aChangeNeighborMergedColor = menuLink->addAction(tr("Neighbor merged"));
+	QAction * aChangeLandmarkColor = menuLink->addAction(tr("Landmark"));
 	QAction * aChangeRejectedLoopColor = menuLink->addAction(tr("Outlier loop closure"));
 	QAction * aChangeRejectedLoopThr = menuLink->addAction(tr("Set outlier threshold..."));
 	QAction * aChangeLocalPathColor = menuLink->addAction(tr("Local path"));
@@ -1562,11 +1580,12 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 	aChangeUserLoopColor->setIcon(createIcon(_loopClosureUserColor));
 	aChangeVirtualLoopColor->setIcon(createIcon(_loopClosureVirtualColor));
 	aChangeNeighborMergedColor->setIcon(createIcon(_neighborMergedColor));
+	aChangeLandmarkColor->setIcon(createIcon(_landmarkColor));
 	aChangeRejectedLoopColor->setIcon(createIcon(_loopClosureRejectedColor));
 	aChangeLocalPathColor->setIcon(createIcon(_localPathColor));
 	aChangeGlobalPathColor->setIcon(createIcon(_globalPathColor));
 	aChangeGTColor->setIcon(createIcon(_gtPathColor));
-	aChangeGPSColor->setIcon(createIcon(_gpsPathColor));
+	aChangeGPSColor->setIcon(createIcon(_gpsPathColor));;
 	aChangeIntraSessionLoopColor->setIcon(createIcon(_loopIntraSessionColor));
 	aChangeInterSessionLoopColor->setIcon(createIcon(_loopInterSessionColor));
 	aChangeNeighborColor->setIconVisibleInMenu(true);
@@ -1843,6 +1862,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 		{
 			color = _neighborMergedColor;
 		}
+		else if(r == aChangeLandmarkColor)
+		{
+			color = _landmarkColor;
+		}
 		else if(r == aChangeRejectedLoopColor)
 		{
 			color = _loopClosureRejectedColor;
@@ -1907,6 +1930,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 			{
 				this->setNeighborMergedColor(color);
 			}
+			else if(r == aChangeLandmarkColor)
+			{
+				this->setLandmarkColor(color);
+			}
 			else if(r == aChangeRejectedLoopColor)
 			{
 				this->setRejectedLoopClosureColor(color);

guilib/src/MainWindow.cpp

@@ -119,6 +119,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/OctoMap.h>
 #endif
 
+#ifdef HAVE_OPENCV_ARUCO
+#include <opencv2/aruco.hpp>
+#endif
+
 #define LOG_FILE_NAME "LogRtabmap.txt"
 #define SHARE_SHOW_LOG_FILE "share/rtabmap/showlogs.m"
 #define SHARE_GET_PRECISION_RECALL_FILE "share/rtabmap/getPrecisionRecall.m"
@@ -1770,8 +1774,27 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 
 			//update image views
 			{
-				UCvMat2QImageThread qimageThread(signature.sensorData().imageRaw());
-				UCvMat2QImageThread qimageLoopThread(loopSignature.sensorData().imageRaw());
+				cv::Mat refImage = signature.sensorData().imageRaw();
+				cv::Mat loopImage = loopSignature.sensorData().imageRaw();
+
+				if( _preferencesDialog->isMarkerDetection() &&
+					_preferencesDialog->isLandmarksShown())
+				{
+					//draw markers
+					if(!signature.getLandmarks().empty())
+					{
+						refImage = refImage.clone();
+						drawLandmarks(refImage, signature);
+					}
+					if(!loopSignature.getLandmarks().empty())
+					{
+						loopImage = loopImage.clone();
+						drawLandmarks(loopImage, loopSignature);
+					}
+				}
+
+				UCvMat2QImageThread qimageThread(refImage);
+				UCvMat2QImageThread qimageLoopThread(loopImage);
 				qimageThread.start();
 				qimageLoopThread.start();
 				qimageThread.join();
@@ -2624,6 +2647,30 @@ void MainWindow::updateMapCloud(
 	}
 #endif
 
+	// Add landmarks to 3D Map view
+#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
+	_cloudViewer->removeAllCoordinates("landmark_");
+#endif
+	if(_preferencesDialog->isLandmarksShown())
+	{
+		for(std::map<int, Transform>::const_iterator iter=posesIn.begin(); iter!=posesIn.end() && iter->first<0; ++iter)
+		{
+#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
+			_cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->getMarkerLength()/2.0, false);
+#endif
+			if(_preferencesDialog->isLabelsShown())
+			{
+				std::string num = uNumber2Str(-iter->first);
+				_cloudViewer->addOrUpdateText(
+						std::string("landmark_str_") + num,
+						num,
+						iter->second,
+						0.1,
+						Qt::yellow);
+			}
+		}
+	}
+
 	// Update occupancy grid map in 3D map view and graph view
 	if(_ui->graphicsView_graphView->isVisible())
 	{
@@ -4289,6 +4336,51 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
 	_ui->imageView_loopClosure->update();
 }
 
+void MainWindow::drawLandmarks(cv::Mat & image, const Signature & signature)
+{
+	for(std::map<int, Link>::const_iterator iter=signature.getLandmarks().begin(); iter!=signature.getLandmarks().end(); ++iter)
+	{
+		CameraModel model;
+		if(!signature.sensorData().cameraModels().empty() &&
+			signature.sensorData().cameraModels()[0].isValidForProjection())
+		{
+			model = signature.sensorData().cameraModels()[0];
+		}
+		else if(signature.sensorData().stereoCameraModel().isValidForProjection())
+		{
+			model = signature.sensorData().stereoCameraModel().left();
+		}
+		if(model.isValidForProjection())
+		{
+			Transform t = model.localTransform().inverse() * iter->second.transform();
+			cv::Vec3d rvec, tvec;
+			tvec.val[0] = t.x();
+			tvec.val[1] = t.y();
+			tvec.val[2] = t.z();
+			cv::Mat R;
+			t.rotationMatrix().convertTo(R, CV_64F);
+			cv::Rodrigues(R, rvec);
+
+			//cv::aruco::drawAxis(image, model.K(), model.D(), rvec, tvec, _preferencesDialog->getMarkerLength() * 0.5f);
+
+			// project axis points
+			std::vector< cv::Point3f > axisPoints;
+			float length = _preferencesDialog->getMarkerLength() * 0.5f;
+			axisPoints.push_back(cv::Point3f(0, 0, 0));
+			axisPoints.push_back(cv::Point3f(length, 0, 0));
+			axisPoints.push_back(cv::Point3f(0, length, 0));
+			axisPoints.push_back(cv::Point3f(0, 0, length));
+			std::vector< cv::Point2f > imagePoints;
+			projectPoints(axisPoints, rvec, tvec, model.K(), model.D(), imagePoints);
+			// draw axis lines
+			cv::line(image, imagePoints[0], imagePoints[1], cv::Scalar(0, 0, 255), 3);
+			cv::line(image, imagePoints[0], imagePoints[2], cv::Scalar(0, 255, 0), 3);
+			cv::line(image, imagePoints[0], imagePoints[3], cv::Scalar(255, 0, 0), 3);
+			cv::putText(image, uNumber2Str(-iter->first), imagePoints[0], cv::FONT_HERSHEY_SIMPLEX, 0.75, cv::Scalar(0, 255, 255), 2);
+		}
+	}
+}
+
 void MainWindow::showEvent(QShowEvent* anEvent)
 {
 	//if the config file doesn't exist, make the GUI obsolete

guilib/src/PreferencesDialog.cpp

@@ -322,6 +322,17 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->checkBox_showOdomFrustums->setChecked(false);
 #endif
 
+	//if OpenCV < 3.4.2
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
+	_ui->ArucoDictionary->setItemData(17, 0, Qt::UserRole - 1);
+	_ui->ArucoDictionary->setItemData(18, 0, Qt::UserRole - 1);
+	_ui->ArucoDictionary->setItemData(19, 0, Qt::UserRole - 1);
+	_ui->ArucoDictionary->setItemData(20, 0, Qt::UserRole - 1);
+#endif
+#ifndef HAVE_OPENCV_ARUCO
+	_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module.");
+#endif
+
 	// in case we change the ui, we should not forget to change stuff related to this parameter
 	UASSERT(_ui->odom_registration->count() == 4);
 
@@ -482,6 +493,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 
 	connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 	connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+	connect(_ui->checkBox_showLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 
 	connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 	connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -912,6 +924,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
 	_ui->loopClosure_bunlde->setObjectName(Parameters::kRGBDLocalBundleOnLoopClosure().c_str());
 	_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
+	_ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str());
 
 	// Registration
 	_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
@@ -1203,6 +1216,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->stereosgbm_p2->setObjectName(Parameters::kStereoSGBMP2().c_str());
 	_ui->stereosgbm_mode->setObjectName(Parameters::kStereoSGBMMode().c_str());
 
+	// Aruco marker
+	_ui->ArucoDictionary->setObjectName(Parameters::kArucoDictionary().c_str());
+	_ui->ArucoMarkerLength->setObjectName(Parameters::kArucoMarkerLength().c_str());
+	_ui->ArucoVarianceLinear->setObjectName(Parameters::kArucoVarianceLinear().c_str());
+	_ui->ArucoVarianceAngular->setObjectName(Parameters::kArucoVarianceAngular().c_str());
+	_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kArucoCornerRefinementMethod().c_str());
+
 	// reset default settings for the gui
 	resetSettings(_ui->groupBox_generalSettingsGui0);
 	resetSettings(_ui->groupBox_cloudRendering1);
@@ -1574,6 +1594,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 
 		_ui->checkBox_showGraphs->setChecked(true);
 		_ui->checkBox_showLabels->setChecked(false);
+		_ui->checkBox_showLandmarks->setChecked(true);
 
 		_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
 		_ui->groupBox_organized->setChecked(false);
@@ -1990,6 +2011,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 
 	_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
 	_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
+	_ui->checkBox_showLandmarks->setChecked(settings.value("showLandmarks", _ui->checkBox_showLandmarks->isChecked()).toBool());
 
 	_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
 	_ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool());
@@ -2410,6 +2432,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 
 	settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
 	settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
+	settings.setValue("showLandmarks", _ui->checkBox_showLandmarks->isChecked());
+
 
 	settings.setValue("noFiltering",             _ui->radioButton_noFiltering->isChecked());
 	settings.setValue("cloudFiltering",          _ui->radioButton_nodeFiltering->isChecked());
@@ -2862,6 +2886,15 @@ bool PreferencesDialog::validateForm()
 		_ui->checkbox_odomDisabled->setChecked(false);
 	}
 
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
+	if(_ui->ArucoDictionary->currentIndex()>=17)
+	{
+		QMessageBox::warning(this, tr("Parameter warning"),
+				tr("ArUco dictionary: cannot select AprilTag dictionary, OpenCV version should be at least 3.4.2. Setting back to 0."));
+		_ui->ArucoDictionary->setCurrentIndex(0);
+	}
+#endif
+
 	return true;
 }
 
@@ -4600,6 +4633,18 @@ bool PreferencesDialog::isLabelsShown() const
 {
 	return _ui->checkBox_showLabels->isChecked();
 }
+bool PreferencesDialog::isLandmarksShown() const
+{
+	return _ui->checkBox_showLandmarks->isChecked();
+}
+bool PreferencesDialog::isMarkerDetection() const
+{
+	return _ui->RGBDMarkerDetection->isChecked();
+}
+double PreferencesDialog::getMarkerLength() const
+{
+	return _ui->ArucoMarkerLength->value();
+}
 bool PreferencesDialog::isCloudMeshing() const
 {
 	return _ui->groupBox_organized->isChecked();

guilib/src/ui/preferencesDialog.ui

@@ -95,15 +95,24 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>673</width>
-            <height>2979</height>
+            <width>680</width>
+            <height>2986</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_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>
@@ -117,7 +126,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>10</number>
+                <number>18</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1869,6 +1878,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
+                       <item row="6" column="2">
+                        <widget class="QLabel" name="label_301">
+                         <property name="text">
+                          <string>Show landmarks.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="6" column="0">
+                        <widget class="QCheckBox" name="checkBox_showLandmarks">
+                         <property name="text">
+                          <string/>
+                         </property>
+                         <property name="checked">
+                          <bool>true</bool>
+                         </property>
+                        </widget>
+                       </item>
                       </layout>
                      </widget>
                     </item>
@@ -5141,7 +5173,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        <string>Directory of images (optional settings)</string>
                       </property>
                       <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="margin">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="topMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>
@@ -11088,6 +11129,323 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                  </item>
                 </layout>
                </widget>
+               <widget class="QWidget" name="page_78">
+                <layout class="QVBoxLayout" name="verticalLayout_137">
+                 <item>
+                  <widget class="QGroupBox" name="groupBox_markerDetection2">
+                   <property name="title">
+                    <string>Marker Detection</string>
+                   </property>
+                   <layout class="QVBoxLayout" name="verticalLayout_136">
+                    <item>
+                     <layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
+                      <item row="3" column="1">
+                       <widget class="QLabel" name="label_space2_9">
+                        <property name="text">
+                         <string>Angular variance to set on marker detections. Set to &gt;=9999 to use only position (xyz) constraint in graph optimization.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="0">
+                       <widget class="QCheckBox" name="RGBDMarkerDetection">
+                        <property name="text">
+                         <string/>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
+                        <property name="suffix">
+                         <string/>
+                        </property>
+                        <property name="decimals">
+                         <number>6</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000001000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.001000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.001000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <widget class="QLabel" name="label_markerDetection">
+                        <property name="text">
+                         <string>Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QLabel" name="label_space2_6">
+                        <property name="text">
+                         <string>Linear variance to set on marker detections.</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="1">
+                       <widget class="QLabel" name="label_space2_7">
+                        <property name="text">
+                         <string>Marker length. The length (m) of the markers' side.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
+                        <property name="suffix">
+                         <string/>
+                        </property>
+                        <property name="decimals">
+                         <number>6</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000001000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>9999.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.001000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.001000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QDoubleSpinBox" name="ArucoMarkerLength">
+                        <property name="suffix">
+                         <string> m</string>
+                        </property>
+                        <property name="decimals">
+                         <number>4</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000100000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.100000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </item>
+                    <item>
+                     <widget class="QGroupBox" name="groupBox_31">
+                      <property name="title">
+                       <string>ArUco</string>
+                      </property>
+                      <layout class="QGridLayout" name="gridLayout_106" columnstretch="0,1">
+                       <item row="0" column="0">
+                        <widget class="QComboBox" name="ArucoDictionary">
+                         <item>
+                          <property name="text">
+                           <string>4X4_50</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>4X4_100</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>4X4_250</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>4X4_1000</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>5X5_50</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>5X5_100</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>5X5_250</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>5X5_1000</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>6X6_50</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>6X6_100</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>6X6_250</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>6X6_1000</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>7X7_50</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>7X7_100</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>7X7_250</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>7X7_1000</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>ARUCO_ORIGINAL</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>APRILTAG_16h5</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>APRILTAG_25h9</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>APRILTAG_36h10</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>APRILTAG_36h11</string>
+                          </property>
+                         </item>
+                        </widget>
+                       </item>
+                       <item row="0" column="1">
+                        <widget class="QLabel" name="label_space2_10">
+                         <property name="text">
+                          <string>Dictionary to use.</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="QComboBox" name="ArucoCornerRefinementMethod">
+                         <item>
+                          <property name="text">
+                           <string>None</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>Subpixel</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>Contour</string>
+                          </property>
+                         </item>
+                         <item>
+                          <property name="text">
+                           <string>AprilTag 2</string>
+                          </property>
+                         </item>
+                        </widget>
+                       </item>
+                       <item row="1" column="1">
+                        <widget class="QLabel" name="label_space2_11">
+                         <property name="text">
+                          <string>Corner refinement method.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                      </layout>
+                     </widget>
+                    </item>
+                   </layout>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="verticalSpacer_76">
+                   <property name="orientation">
+                    <enum>Qt::Vertical</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>2627</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
                <widget class="QWidget" name="page_12">
                 <layout class="QVBoxLayout" name="verticalLayout_32" stretch="0,1">
                  <item>
@@ -15461,7 +15819,16 @@ Lower the ratio -&gt; higher the precision.</string>
                         <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>
@@ -15541,7 +15908,16 @@ Lower the ratio -&gt; higher the precision.</string>
                         <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>
@@ -15653,7 +16029,16 @@ Lower the ratio -&gt; higher the precision.</string>
                         <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>