Added KAZE feature detector (OpenCV3)

corelib/include/rtabmap/core/Features2d.h

@@ -105,7 +105,7 @@ public:
 		kFeatureGfttBrief=6,
 		kFeatureBrisk=7,
 		kFeatureGfttOrb=8,  //new 0.10.11
-		kFeatureFreak=9};   //new 0.11.14
+		kFeatureKaze=9};    //new 0.13.2
 
 	static Feature2D * create(const ParametersMap & parameters = ParametersMap());
 	static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -433,27 +433,31 @@ private:
 	cv::Ptr<CV_BRISK> brisk_;
 };
 
-//FREAK
+//KAZE
-class RTABMAP_EXP FREAK : public Feature2D
+class RTABMAP_EXP KAZE : public Feature2D
 {
 public:
-	FREAK(const ParametersMap & parameters = ParametersMap());
+	KAZE(const ParametersMap & parameters = ParametersMap());
-	virtual ~FREAK();
+	virtual ~KAZE();
 
 	virtual void parseParameters(const ParametersMap & parameters);
-	virtual Feature2D::Type getType() const { return kFeatureFreak; }
+	virtual Feature2D::Type getType() const { return kFeatureKaze; }
 
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
-	bool orientationNormalized_;
+	bool extended_;
-	bool scaleNormalized_;
+	bool upright_;
-	float patternScale_;
+	float threshold_;
 	int nOctaves_;
+	int nOctaveLayers_;
+	int diffusivity_;
 
-	cv::Ptr<CV_FREAK> _freak;
+#if CV_MAJOR_VERSION > 2
+	cv::Ptr<cv::KAZE> kaze_;
+#endif
 };
 
 

corelib/include/rtabmap/core/Parameters.h

@@ -224,9 +224,9 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Kp, BadSignRatio,             float, 0.5,   "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
     RTABMAP_PARAM(Kp, NndrRatio,                float, 0.8,   "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
 #ifdef RTABMAP_NONFREE
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 0,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 0,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
 #else
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 2,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 2,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
 #endif
     RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed,      bool, true,   "Use of the td-idf strategy to compute the likelihood.");
     RTABMAP_PARAM(Kp, Parallelized,             bool, true,   "If the dictionary update and signature creation were parallelized.");
@@ -294,6 +294,13 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(BRISK, Octaves,      int, 3,  "Detection octaves. Use 0 to do single scale.");
     RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
 
+    RTABMAP_PARAM(KAZE, Extended,       bool, false,   "Set to enable extraction of extended (128-byte) descriptor.");
+    RTABMAP_PARAM(KAZE, Upright,        bool, false,   "Set to enable use of upright descriptors (non rotation-invariant).");
+    RTABMAP_PARAM(KAZE, Threshold,      float, 0.001,  "Detector response threshold to accept point.");
+    RTABMAP_PARAM(KAZE, NOctaves,       int, 4,        "Maximum octave evolution of the image.");
+    RTABMAP_PARAM(KAZE, NOctaveLayers,  int, 4,        "Default number of sublevels per scale level.");
+    RTABMAP_PARAM(KAZE, Diffusivity,    int, 1,        "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
+
     // BayesFilter
     RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9,  "Virtual place prior");
     RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.");
@@ -469,12 +476,12 @@ class RTABMAP_EXP Parameters
 #ifndef RTABMAP_NONFREE
 #ifdef RTABMAP_OPENCV3
     // OpenCV 3 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
+    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
 #else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
+    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
 #endif
 #else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=FREAK.");
+    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.");
 #endif
     RTABMAP_PARAM(Vis, MaxFeatures,              int, 1000,   "0 no limits.");
     RTABMAP_PARAM(Vis, MaxDepth,                  float, 0,   "Max depth of the features (0 means no limit).");

corelib/src/Features2d.cpp

@@ -414,8 +414,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 	if(type == Feature2D::kFeatureFastBrief ||
 	   type == Feature2D::kFeatureFastFreak ||
 	   type == Feature2D::kFeatureGfttBrief ||
-	   type == Feature2D::kFeatureGfttFreak ||
+	   type == Feature2D::kFeatureGfttFreak)
-	   type == Feature2D::kFeatureFreak)
 	{
 		UWARN("BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. ORB is used instead.");
 		type = Feature2D::kFeatureOrb;
@@ -424,10 +423,15 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 #endif
 
 #if CV_MAJOR_VERSION < 3
-	if(type == Feature2D::kFeatureFreak)
+	if(type == Feature2D::kFeatureKaze)
 	{
-		UWARN("FREAK detector/descriptor can be used only with OpenCV3. GFTT/FREAK is used instead.");
+#ifdef RTABMAP_NONFREE
-		type = Feature2D::kFeatureGfttFreak;
+		UWARN("KAZE detector/descriptor can be used only with OpenCV3. SURF is used instead.");
+		type = Feature2D::kFeatureSurf;
+#else
+		UWARN("KAZE detector/descriptor can be used only with OpenCV3. ORB is used instead.");
+		type = Feature2D::kFeatureOrb;
+#endif
 	}
 #endif
 
@@ -461,6 +465,9 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 	case Feature2D::kFeatureBrisk:
 		feature2D = new BRISK(parameters);
 		break;
+	case Feature2D::kFeatureKaze:
+		feature2D = new KAZE(parameters);
+		break;
 #ifdef RTABMAP_NONFREE
 	default:
 		feature2D = new SURF(parameters);
@@ -1469,71 +1476,66 @@ cv::Mat BRISK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Ke
 	return descriptors;
 }
 
-
 //////////////////////////
-//FREAK
+//KAZE
 //////////////////////////
-FREAK::FREAK(const ParametersMap & parameters) :
+KAZE::KAZE(const ParametersMap & parameters) :
-	orientationNormalized_(Parameters::defaultFREAKOrientationNormalized()),
+		extended_(Parameters::defaultKAZEExtended()),
-	scaleNormalized_(Parameters::defaultFREAKScaleNormalized()),
+		upright_(Parameters::defaultKAZEUpright()),
-	patternScale_(Parameters::defaultFREAKPatternScale()),
+		threshold_(Parameters::defaultKAZEThreshold()),
-	nOctaves_(Parameters::defaultFREAKNOctaves())
+		nOctaves_(Parameters::defaultKAZENOctaves()),
+		nOctaveLayers_(Parameters::defaultKAZENOctaveLayers()),
+		diffusivity_(Parameters::defaultKAZEDiffusivity())
 {
 	parseParameters(parameters);
 }
 
-FREAK::~FREAK()
+KAZE::~KAZE()
 {
 }
 
-void FREAK::parseParameters(const ParametersMap & parameters)
+void KAZE::parseParameters(const ParametersMap & parameters)
 {
-	Parameters::parse(parameters, Parameters::kFREAKOrientationNormalized(), orientationNormalized_);
+	Parameters::parse(parameters, Parameters::kKAZEExtended(), extended_);
-	Parameters::parse(parameters, Parameters::kFREAKScaleNormalized(), scaleNormalized_);
+	Parameters::parse(parameters, Parameters::kKAZEUpright(), upright_);
-	Parameters::parse(parameters, Parameters::kFREAKPatternScale(), patternScale_);
+	Parameters::parse(parameters, Parameters::kKAZEThreshold(), threshold_);
-	Parameters::parse(parameters, Parameters::kFREAKNOctaves(), nOctaves_);
+	Parameters::parse(parameters, Parameters::kKAZENOctaves(), nOctaves_);
+	Parameters::parse(parameters, Parameters::kKAZENOctaveLayers(), nOctaveLayers_);
+	Parameters::parse(parameters, Parameters::kKAZEDiffusivity(), diffusivity_);
 
-#if CV_MAJOR_VERSION < 3
+#if CV_MAJOR_VERSION > 2
-	_freak = cv::Ptr<CV_FREAK>(new CV_FREAK(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_));
+	kaze_ = cv::KAZE::create(extended_, upright_, threshold_, nOctaves_, nOctaveLayers_, diffusivity_);
 #else
-#ifdef HAVE_OPENCV_XFEATURES2D
+	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
-	_freak = CV_FREAK::create(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_);
-#else
-	UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
-#endif
 #endif
 }
 
-std::vector<cv::KeyPoint> FREAK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
+std::vector<cv::KeyPoint> KAZE::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
-#ifdef HAVE_OPENCV_XFEATURES2D
+#if CV_MAJOR_VERSION > 2
 	cv::Mat imgRoi(image, roi);
 	cv::Mat maskRoi;
 	if (!mask.empty())
 	{
 		maskRoi = cv::Mat(mask, roi);
 	}
-	_freak->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
+	kaze_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
 #else
-	UWARN("RTAB-Map is not built with OpenCV3 xfeatures2d module so Freak (for keypoint detection) cannot be used!");
+	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
 #endif
 	return keypoints;
 }
 
-cv::Mat FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
+cv::Mat KAZE::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	cv::Mat descriptors;
-#if CV_MAJOR_VERSION < 3
+#if CV_MAJOR_VERSION > 2
-	_freak->compute(image, keypoints, descriptors);
+	kaze_->compute(image, keypoints, descriptors);
 #else
-#ifdef HAVE_OPENCV_XFEATURES2D
+	UWARN("RTAB-Map is not built with OpenCV3 so Kaze feature cannot be used!");
-	_freak->compute(image, keypoints, descriptors);
-#else
-	UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
-#endif
 #endif
 	return descriptors;
 }

corelib/src/Parameters.cpp

@@ -156,7 +156,8 @@ bool Parameters::isFeatureParameter(const std::string & parameter)
 			group.compare("FREAK") == 0 ||
 			group.compare("BRIEF") == 0 ||
 			group.compare("GFTT") == 0 ||
-			group.compare("BRISK") == 0;
+			group.compare("BRISK") == 0 ||
+			group.compare("KAZE") == 0;
 }
 
 rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)

guilib/src/PreferencesDialog.cpp

@@ -197,8 +197,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 #if CV_MAJOR_VERSION >= 3
 	_ui->groupBox_fast_opencv2->setEnabled(false);
 #else
-	_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
+	_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
-	_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
+	_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
 #endif
 
 	_ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1);
@@ -746,6 +746,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->spinBox_BRISK_octaves->setObjectName(Parameters::kBRISKOctaves().c_str());
 	_ui->doubleSpinBox_BRISK_patterScale->setObjectName(Parameters::kBRISKPatternScale().c_str());
 
+	//KAZE
+	_ui->checkBox_kaze_extended->setObjectName(Parameters::kKAZEExtended().c_str());
+	_ui->checkBox_kaze_upright->setObjectName(Parameters::kKAZEUpright().c_str());
+	_ui->doubleSpinBox_kaze_threshold->setObjectName(Parameters::kKAZEThreshold().c_str());
+	_ui->spinBox_kaze_octaves->setObjectName(Parameters::kKAZENOctaves().c_str());
+	_ui->spinBox_kaze_octavelayers->setObjectName(Parameters::kKAZENOctaveLayers().c_str());
+	_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
+
 	// verifyHypotheses
 	_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
 	_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
@@ -2364,19 +2372,33 @@ bool PreferencesDialog::validateForm()
 #endif
 
 #if CV_MAJOR_VERSION < 3
-	if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureFreak)
+	if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureKaze)
 	{
+#ifdef RTABMAP_NONFREE
 		QMessageBox::warning(this, tr("Parameter warning"),
-			tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
+			tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
+				"for the bag-of-words dictionary."));
+		_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSurf);
+#else
+		QMessageBox::warning(this, tr("Parameter warning"),
+			tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
 				"for the bag-of-words dictionary."));
 		_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
+#endif
 	}
-	if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureFreak)
+	if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureKaze)
 	{
+#ifdef RTABMAP_NONFREE
 		QMessageBox::warning(this, tr("Parameter warning"),
-			tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
+			tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
+				"for the re-extraction of features on loop closure."));
+				_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureSurf);
+#else
+		QMessageBox::warning(this, tr("Parameter warning"),
+			tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
 				"for the re-extraction of features on loop closure."));
 				_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
+#endif
 	}
 #endif
 

guilib/src/ui/preferencesDialog.ui

@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>11</number>
+                <number>34</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -6732,7 +6732,7 @@ generate the number of words requested.</string>
                            </item>
                            <item>
                             <property name="text">
-                             <string>FREAK</string>
+                             <string>KAZE</string>
                             </property>
                            </item>
                           </widget>
@@ -13245,7 +13245,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                            </item>
                            <item>
                             <property name="text">
-                             <string>FREAK</string>
+                             <string>KAZE</string>
                             </property>
                            </item>
                           </widget>
@@ -15863,6 +15863,179 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                  </item>
                 </layout>
                </widget>
+               <widget class="QWidget" name="page_71">
+                <layout class="QVBoxLayout" name="verticalLayout_3">
+                 <item>
+                  <widget class="QGroupBox" name="groupBox_detector_kaze2">
+                   <property name="title">
+                    <string>KAZE</string>
+                   </property>
+                   <layout class="QGridLayout" name="gridLayout_95" columnstretch="0,1">
+                    <item row="0" column="0">
+                     <widget class="QCheckBox" name="checkBox_kaze_extended">
+                      <property name="text">
+                       <string/>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="1">
+                     <widget class="QLabel" name="label_420">
+                      <property name="text">
+                       <string>Set to enable use of upright descriptors (non rotation-invariant).</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="1">
+                     <widget class="QLabel" name="label_416">
+                      <property name="text">
+                       <string>Maximum octave evolution of the image.</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="QCheckBox" name="checkBox_kaze_upright">
+                      <property name="text">
+                       <string/>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="1">
+                     <widget class="QLabel" name="label_417">
+                      <property name="text">
+                       <string>Default number of sublevels per scale level.</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="0">
+                     <widget class="QSpinBox" name="spinBox_kaze_octavelayers">
+                      <property name="minimum">
+                       <number>1</number>
+                      </property>
+                      <property name="maximum">
+                       <number>16</number>
+                      </property>
+                      <property name="value">
+                       <number>3</number>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="0">
+                     <widget class="QSpinBox" name="spinBox_kaze_octaves">
+                      <property name="minimum">
+                       <number>1</number>
+                      </property>
+                      <property name="maximum">
+                       <number>16</number>
+                      </property>
+                      <property name="value">
+                       <number>16</number>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="0" column="1">
+                     <widget class="QLabel" name="label_419">
+                      <property name="text">
+                       <string>Set to enable extraction of extended (128-byte) descriptor.</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QDoubleSpinBox" name="doubleSpinBox_kaze_threshold">
+                      <property name="decimals">
+                       <number>4</number>
+                      </property>
+                      <property name="minimum">
+                       <double>0.000100000000000</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="2" column="1">
+                     <widget class="QLabel" name="label_418">
+                      <property name="text">
+                       <string>Detector response threshold to accept point.</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="5" column="1">
+                     <widget class="QLabel" name="label_421">
+                      <property name="text">
+                       <string>Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="5" column="0">
+                     <widget class="QSpinBox" name="spinBox_kaze_diffusivity">
+                      <property name="maximum">
+                       <number>3</number>
+                      </property>
+                      <property name="value">
+                       <number>3</number>
+                      </property>
+                     </widget>
+                    </item>
+                   </layout>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="verticalSpacer_65">
+                   <property name="orientation">
+                    <enum>Qt::Vertical</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>2487</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
               </widget>
              </item>
             </layout>