/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "rtabmap/gui/PreferencesDialog.h"
#include "rtabmap/gui/DatabaseViewer.h"
#include "rtabmap/gui/OdometryViewer.h"
#include "rtabmap/gui/CalibrationDialog.h"

#include <QtCore/QSettings>
#include <QtCore/QDir>
#include <QtCore/QTimer>

#include <QFileDialog>
#include <QMessageBox>
#include <QtGui/QStandardItemModel>
#include <QMainWindow>
#include <QProgressDialog>
#include <QScrollBar>
#include <QStatusBar>
#include <QtGui/QCloseEvent>

#include "ui_preferencesDialog.h"

#include "rtabmap/core/Version.h"
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/CameraRGB.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/DBReader.h"

#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/CameraViewer.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/GraphViewer.h"
#include "ExportCloudsDialog.h"
#include "PostProcessingDialog.h"
#include "CreateSimpleCalibrationDialog.h"

#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UEventsManager.h>
#include "rtabmap/utilite/UPlot.h"

#include <opencv2/opencv_modules.hpp>
#if CV_MAJOR_VERSION < 3
  #include <opencv2/gpu/gpu.hpp>
#else
  #include <opencv2/core/cuda.hpp>
#endif

using namespace rtabmap;

namespace rtabmap {

PreferencesDialog::PreferencesDialog(QWidget * parent) :
	QDialog(parent),
	_obsoletePanels(kPanelDummy),
	_ui(0),
	_indexModel(0),
	_initialized(false),
	_calibrationDialog(new CalibrationDialog(false, ".", this))
{
	ULOGGER_DEBUG("");
	_calibrationDialog->setWindowFlags(Qt::Window);
	_calibrationDialog->setWindowTitle(tr("Calibration"));

	_ui = new Ui_preferencesDialog();
	_ui->setupUi(this);

	bool haveCuda = false;
#if CV_MAJOR_VERSION < 3
	haveCuda = cv::gpu::getCudaEnabledDeviceCount() != 0;
#else
	haveCuda = cv::cuda::getCudaEnabledDeviceCount() != 0;
#ifndef HAVE_OPENCV_CUDAFEATURES2D
	haveCuda = false;
#endif
#endif
	if(!haveCuda)
	{
		_ui->surf_checkBox_gpuVersion->setChecked(false);
		_ui->surf_checkBox_gpuVersion->setEnabled(false);
		_ui->label_surf_checkBox_gpuVersion->setEnabled(false);
		_ui->surf_doubleSpinBox_gpuKeypointsRatio->setEnabled(false);
		_ui->label_surf_checkBox_gpuKeypointsRatio->setEnabled(false);

		_ui->fastGpu->setChecked(false);
		_ui->fastGpu->setEnabled(false);
		_ui->label_fastGPU->setEnabled(false);
		_ui->fastKeypointRatio->setEnabled(false);
		_ui->label_fastGPUKptRatio->setEnabled(false);

		_ui->checkBox_ORBGpu->setChecked(false);
		_ui->checkBox_ORBGpu->setEnabled(false);
		_ui->label_orbGpu->setEnabled(false);

		// remove BruteForceGPU option
		_ui->comboBox_dictionary_strategy->removeItem(4);
		_ui->reextract_nn->removeItem(4);
	}

#if PCL_VERSION_COMPARE(<, 1, 7, 2)
	_ui->checkBox_map_shown->setChecked(false);
	_ui->checkBox_map_shown->setEnabled(false);
	_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
#endif

	if(RTABMAP_NONFREE == 0)
	{
		_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
		_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);

		_ui->comboBox_dictionary_strategy->setItemData(1, 0, Qt::UserRole - 1);
		_ui->reextract_nn->setItemData(1, 0, Qt::UserRole - 1);

#if CV_MAJOR_VERSION == 3
		_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
		_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
		_ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1);
		_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
		_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
		_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(3, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(4, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(5, 0, Qt::UserRole - 1);
		_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
#endif
	}
	if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
	{
		_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
	}
	if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
	{
		_ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1);
	}
	if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
	{
		_ui->graphOptimization_robust->setEnabled(false);
	}
	if(!CameraOpenni::available())
	{
		_ui->comboBox_cameraRGBD->setItemData(0, 0, Qt::UserRole - 1);
	}
	if(!CameraFreenect::available())
	{
		_ui->comboBox_cameraRGBD->setItemData(1, 0, Qt::UserRole - 1);
	}
	if(!CameraOpenNICV::available())
	{
		_ui->comboBox_cameraRGBD->setItemData(2, 0, Qt::UserRole - 1);
		_ui->comboBox_cameraRGBD->setItemData(3, 0, Qt::UserRole - 1);
	}
	if(!CameraOpenNI2::available())
	{
		_ui->comboBox_cameraRGBD->setItemData(4, 0, Qt::UserRole - 1);
	}
	if(!CameraFreenect2::available())
	{
		_ui->comboBox_cameraRGBD->setItemData(5, 0, Qt::UserRole - 1);
	}
	if(!CameraStereoDC1394::available())
	{
		_ui->comboBox_cameraStereo->setItemData(0, 0, Qt::UserRole - 1);
	}
	if(!CameraStereoFlyCapture2::available())
	{
		_ui->comboBox_cameraStereo->setItemData(1, 0, Qt::UserRole - 1);
	}
	_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
	_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());

	// Default Driver
	connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
	connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateRGBDCameraGroupBoxVisibility()));
	connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateRGBCameraGroupBoxVisibility()));
	connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoCameraGroupBoxVisibility()));
	this->resetSettings(_ui->groupBox_source0);

	_ui->predictionPlot->showLegend(false);

	QButtonGroup * buttonGroup = new QButtonGroup(this);
	buttonGroup->addButton(_ui->radioButton_basic);
	buttonGroup->addButton(_ui->radioButton_advanced);

	// Connect
	connect(_ui->buttonBox_global, SIGNAL(clicked(QAbstractButton *)), this, SLOT(closeDialog(QAbstractButton *)));
	connect(_ui->buttonBox_local, SIGNAL(clicked(QAbstractButton *)), this, SLOT(resetApply(QAbstractButton *)));
	connect(_ui->pushButton_loadConfig, SIGNAL(clicked()), this, SLOT(loadConfigFrom()));
	connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo()));
	connect(_ui->pushButton_resetConfig, SIGNAL(clicked()), this, SLOT(resetConfig()));
	connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView()));
	connect(_ui->pushButton_testOdometry, SIGNAL(clicked()), this, SLOT(testOdometry()));
	connect(_ui->pushButton_test_camera, SIGNAL(clicked()), this, SLOT(testCamera()));

	// General panel
	connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->checkBox_verticalLayoutUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
	connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));

	// Cloud rendering panel
	_3dRenderingShowClouds.resize(2);
	_3dRenderingShowClouds[0] = _ui->checkBox_showClouds;
	_3dRenderingShowClouds[1] = _ui->checkBox_showOdomClouds;

	_3dRenderingVoxelSize.resize(2);
	_3dRenderingVoxelSize[0] = _ui->doubleSpinBox_voxelSize;
	_3dRenderingVoxelSize[1] = _ui->doubleSpinBox_voxelSize_odom;

	_3dRenderingDecimation.resize(2);
	_3dRenderingDecimation[0] = _ui->spinBox_decimation;
	_3dRenderingDecimation[1] = _ui->spinBox_decimation_odom;

	_3dRenderingMaxDepth.resize(2);
	_3dRenderingMaxDepth[0] = _ui->doubleSpinBox_maxDepth;
	_3dRenderingMaxDepth[1] = _ui->doubleSpinBox_maxDepth_odom;

	_3dRenderingOpacity.resize(2);
	_3dRenderingOpacity[0] = _ui->doubleSpinBox_opacity;
	_3dRenderingOpacity[1] = _ui->doubleSpinBox_opacity_odom;

	_3dRenderingPtSize.resize(2);
	_3dRenderingPtSize[0] = _ui->spinBox_ptsize;
	_3dRenderingPtSize[1] = _ui->spinBox_ptsize_odom;

	_3dRenderingShowScans.resize(2);
	_3dRenderingShowScans[0] = _ui->checkBox_showScans;
	_3dRenderingShowScans[1] = _ui->checkBox_showOdomScans;

	_3dRenderingDownsamplingScan.resize(2);
	_3dRenderingDownsamplingScan[0] = _ui->spinBox_downsamplingScan;
	_3dRenderingDownsamplingScan[1] = _ui->spinBox_downsamplingScan_odom;

	_3dRenderingVoxelSizeScan.resize(2);
	_3dRenderingVoxelSizeScan[0] = _ui->doubleSpinBox_voxelSizeScan;
	_3dRenderingVoxelSizeScan[1] = _ui->doubleSpinBox_voxelSizeScan_odom;

	_3dRenderingOpacityScan.resize(2);
	_3dRenderingOpacityScan[0] = _ui->doubleSpinBox_opacity_scan;
	_3dRenderingOpacityScan[1] = _ui->doubleSpinBox_opacity_odom_scan;

	_3dRenderingPtSizeScan.resize(2);
	_3dRenderingPtSizeScan[0] = _ui->spinBox_ptsize_scan;
	_3dRenderingPtSizeScan[1] = _ui->spinBox_ptsize_odom_scan;

	for(int i=0; i<2; ++i)
	{
		connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingVoxelSize[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));

		connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingOpacity[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingPtSize[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingOpacityScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
		connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	}

	connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));

	connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->checkBox_mls, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_mlsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));

	connect(_ui->checkBox_nodeFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->checkBox_subtractFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_cloudFilterRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_cloudFilterAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->spinBox_substractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));

	connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->checkBox_map_occupancyFrom3DCloud, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
	connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));

	//Logging panel
	connect(_ui->comboBox_loggerLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
	connect(_ui->comboBox_loggerEventLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
	connect(_ui->comboBox_loggerPauseLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
	connect(_ui->checkBox_logger_printTime, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
	connect(_ui->comboBox_loggerType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));

	//Source panel
	connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->toolButton_source_path_calibration, SIGNAL(clicked()), this, SLOT(selectCalibrationPath()));
	connect(_ui->lineEdit_calibrationFile, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	_ui->stackedWidget_src->setCurrentIndex(_ui->comboBox_sourceType->currentIndex());
	connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_src, SLOT(setCurrentIndex(int)));
	connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_sourceDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_sourceLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));

	//Image source
	_ui->stackedWidget_image->setCurrentIndex(_ui->source_comboBox_image_type->currentIndex());
	connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_image, SLOT(setCurrentIndex(int)));
	connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	//images group
	connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImagesPath()));
	connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_rgbImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	//video group
	connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
	connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_rgbVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	//database group
	connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceDatabase()));
	connect(_ui->toolButton_dbViewer, SIGNAL(clicked()), this, SLOT(openDatabaseViewer()));
	connect(_ui->groupBox_sourceDatabase, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_database_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_checkBox_ignoreOdometry, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_checkBox_ignoreGoalDelay, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_checkBox_ignoreGoals, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));

	//openni group
	_ui->stackedWidget_rgbd->setCurrentIndex(_ui->comboBox_cameraRGBD->currentIndex());
	connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_rgbd, SLOT(setCurrentIndex(int)));
	connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	_ui->stackedWidget_stereo->setCurrentIndex(_ui->comboBox_cameraStereo->currentIndex());
	connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereo, SLOT(setCurrentIndex(int)));
	connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->openni2_autoWhiteBalance, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->openni2_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->openni2_stampsIdsUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));

	connect(_ui->toolButton_cameraRGBDImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesStamps()));
	connect(_ui->lineEdit_cameraRGBDImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->toolButton_cameraRGBDImages_path_rgb, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathRGB()));
	connect(_ui->toolButton_cameraRGBDImages_path_depth, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathDepth()));
	connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_RGBDImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));

	connect(_ui->toolButton_cameraStereoImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesStamps()));
	connect(_ui->lineEdit_cameraStereoImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft()));
	connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight()));
	connect(_ui->toolButton_cameraStereoImages_path_scans, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathScans()));
	connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_cameraStereoImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_cameraStereoImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->spinBox_cameraStereoImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_stereoImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_stereoImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));

	connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
	connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));

	connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
	connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
	connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
	connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
	connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
	connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));



	//Rtabmap basic
	connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
	connect(_ui->general_doubleSpinBox_hardThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_hardThr_2, SLOT(setValue(double)));
	connect(_ui->doubleSpinBox_similarityThreshold, SIGNAL(valueChanged(double)), _ui->doubleSpinBox_similarityThreshold_2, SLOT(setValue(double)));
	connect(_ui->general_doubleSpinBox_detectionRate, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_detectionRate_2, SLOT(setValue(double)));
	connect(_ui->general_spinBox_imagesBufferSize, SIGNAL(valueChanged(int)), _ui->general_spinBox_imagesBufferSize_2, SLOT(setValue(int)));
	connect(_ui->general_spinBox_maxStMemSize, SIGNAL(valueChanged(int)), _ui->general_spinBox_maxStMemSize_2, SLOT(setValue(int)));

	connect(_ui->general_doubleSpinBox_timeThr_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
	connect(_ui->general_doubleSpinBox_hardThr_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
	connect(_ui->doubleSpinBox_similarityThreshold_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
	connect(_ui->general_doubleSpinBox_detectionRate_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
	connect(_ui->general_spinBox_imagesBufferSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
	connect(_ui->general_spinBox_maxStMemSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
	connect(_ui->groupBox_publishing, SIGNAL(clicked(bool)), this, SLOT(updateBasicParameter()));
	connect(_ui->general_checkBox_publishStats_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
	connect(_ui->general_checkBox_activateRGBD, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
	connect(_ui->general_checkBox_activateRGBD_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
	connect(_ui->general_checkBox_SLAM_mode, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
	connect(_ui->general_checkBox_SLAM_mode_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));

	// Map objects name with the corresponding parameter key, needed for the addParameter() slots
	//Rtabmap
	_ui->groupBox_publishing->setObjectName(Parameters::kRtabmapPublishStats().c_str());
	_ui->general_checkBox_publishRawData->setObjectName(Parameters::kRtabmapPublishLastSignature().c_str());
	_ui->general_checkBox_publishPdf->setObjectName(Parameters::kRtabmapPublishPdf().c_str());
	_ui->general_checkBox_publishLikelihood->setObjectName(Parameters::kRtabmapPublishLikelihood().c_str());
	_ui->general_checkBox_statisticLogsBufferedInRAM->setObjectName(Parameters::kRtabmapStatisticLogsBufferedInRAM().c_str());
	_ui->groupBox_statistics->setObjectName(Parameters::kRtabmapStatisticLogged().c_str());
	_ui->general_checkBox_statisticLoggedHeaders->setObjectName(Parameters::kRtabmapStatisticLoggedHeaders().c_str());
	_ui->general_doubleSpinBox_timeThr->setObjectName(Parameters::kRtabmapTimeThr().c_str());
	_ui->general_spinBox_memoryThr->setObjectName(Parameters::kRtabmapMemoryThr().c_str());
	_ui->general_doubleSpinBox_detectionRate->setObjectName(Parameters::kRtabmapDetectionRate().c_str());
	_ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapImageBufferSize().c_str());
	_ui->general_checkBox_createIntermediateNodes->setObjectName(Parameters::kRtabmapCreateIntermediateNodes().c_str());
	_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
	_ui->general_checkBox_startNewMapOnLoopClosure->setObjectName(Parameters::kRtabmapStartNewMapOnLoopClosure().c_str());
	_ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str());
	connect(_ui->toolButton_workingDirectory, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory()));

	// Memory
	_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
	_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
	_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
	_ui->general_checkBox_reduceGraph->setObjectName(Parameters::kMemReduceGraph().c_str());
	_ui->general_checkBox_keepNotLinkedNodes->setObjectName(Parameters::kMemNotLinkedNodesKept().c_str());
	_ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str());
	_ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str());
	_ui->general_checkBox_SLAM_mode->setObjectName(Parameters::kMemIncrementalMemory().c_str());
	_ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str());
	_ui->general_checkBox_transferSortingByWeightId->setObjectName(Parameters::kMemTransferSortingByWeightId().c_str());
	_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
	_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
	_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
	_ui->general_checkBox_createMapLabels->setObjectName(Parameters::kMemMapLabelsAdded().c_str());
	_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
	_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
	_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
	_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());


	// Database
	_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
	_ui->spinBox_dbCacheSize->setObjectName(Parameters::kDbSqlite3CacheSize().c_str());
	_ui->comboBox_dbJournalMode->setObjectName(Parameters::kDbSqlite3JournalMode().c_str());
	_ui->comboBox_dbSynchronous->setObjectName(Parameters::kDbSqlite3Synchronous().c_str());
	_ui->comboBox_dbTempStore->setObjectName(Parameters::kDbSqlite3TempStore().c_str());

	// Create hypotheses
	_ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str());
	_ui->general_doubleSpinBox_loopRatio->setObjectName(Parameters::kRtabmapLoopRatio().c_str());

	//Bayes
	_ui->general_doubleSpinBox_vp->setObjectName(Parameters::kBayesVirtualPlacePriorThr().c_str());
	_ui->lineEdit_bayes_predictionLC->setObjectName(Parameters::kBayesPredictionLC().c_str());
	_ui->checkBox_bayes_fullPredictionUpdate->setObjectName(Parameters::kBayesFullPredictionUpdate().c_str());
	connect(_ui->lineEdit_bayes_predictionLC, SIGNAL(textChanged(const QString &)), this, SLOT(updatePredictionPlot()));

	//Keypoint-based
	_ui->comboBox_dictionary_strategy->setObjectName(Parameters::kKpNNStrategy().c_str());
	_ui->checkBox_dictionary_incremental->setObjectName(Parameters::kKpIncrementalDictionary().c_str());
	_ui->checkBox_kp_incrementalFlann->setObjectName(Parameters::kKpIncrementalFlann().c_str());
	_ui->comboBox_detector_strategy->setObjectName(Parameters::kKpDetectorStrategy().c_str());
	_ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str());
	_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
	_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
	_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpWordsPerImage().c_str());
	_ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str());
	_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());
	_ui->checkBox_kp_parallelized->setObjectName(Parameters::kKpParallelized().c_str());
	_ui->lineEdit_kp_roi->setObjectName(Parameters::kKpRoiRatios().c_str());
	_ui->lineEdit_dictionaryPath->setObjectName(Parameters::kKpDictionaryPath().c_str());
	connect(_ui->toolButton_dictionaryPath, SIGNAL(clicked()), this, SLOT(changeDictionaryPath()));
	_ui->checkBox_kp_newWordsComparedTogether->setObjectName(Parameters::kKpNewWordsComparedTogether().c_str());
	_ui->subpix_winSize_kp->setObjectName(Parameters::kKpSubPixWinSize().c_str());
	_ui->subpix_iterations_kp->setObjectName(Parameters::kKpSubPixIterations().c_str());
	_ui->subpix_eps_kp->setObjectName(Parameters::kKpSubPixEps().c_str());

	_ui->subpix_winSize->setObjectName(Parameters::kKpSubPixWinSize().c_str());
	_ui->subpix_iterations->setObjectName(Parameters::kKpSubPixIterations().c_str());
	_ui->subpix_eps->setObjectName(Parameters::kKpSubPixEps().c_str());

	//SURF detector
	_ui->surf_doubleSpinBox_hessianThr->setObjectName(Parameters::kSURFHessianThreshold().c_str());
	_ui->surf_spinBox_octaves->setObjectName(Parameters::kSURFOctaves().c_str());
	_ui->surf_spinBox_octaveLayers->setObjectName(Parameters::kSURFOctaveLayers().c_str());
	_ui->checkBox_surfExtended->setObjectName(Parameters::kSURFExtended().c_str());
	_ui->surf_checkBox_upright->setObjectName(Parameters::kSURFUpright().c_str());
	_ui->surf_checkBox_gpuVersion->setObjectName(Parameters::kSURFGpuVersion().c_str());
	_ui->surf_doubleSpinBox_gpuKeypointsRatio->setObjectName(Parameters::kSURFGpuKeypointsRatio().c_str());

	//SIFT detector
	_ui->sift_spinBox_nFeatures->setObjectName(Parameters::kSIFTNFeatures().c_str());
	_ui->sift_spinBox_nOctaveLayers->setObjectName(Parameters::kSIFTNOctaveLayers().c_str());
	_ui->sift_doubleSpinBox_contrastThr->setObjectName(Parameters::kSIFTContrastThreshold().c_str());
	_ui->sift_doubleSpinBox_edgeThr->setObjectName(Parameters::kSIFTEdgeThreshold().c_str());
	_ui->sift_doubleSpinBox_sigma->setObjectName(Parameters::kSIFTSigma().c_str());

	//BRIEF descriptor
	_ui->briefBytes->setObjectName(Parameters::kBRIEFBytes().c_str());

	//FAST detector
	_ui->fastSuppressNonMax->setObjectName(Parameters::kFASTNonmaxSuppression().c_str());
	_ui->fastThreshold->setObjectName(Parameters::kFASTThreshold().c_str());
	_ui->fastThresholdMin->setObjectName(Parameters::kFASTMinThreshold().c_str());
	_ui->fastThresholdMax->setObjectName(Parameters::kFASTMaxThreshold().c_str());
	_ui->fastGridRows->setObjectName(Parameters::kFASTGridRows().c_str());
	_ui->fastGridCols->setObjectName(Parameters::kFASTGridCols().c_str());
	_ui->fastGpu->setObjectName(Parameters::kFASTGpu().c_str());
	_ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str());

	//ORB detector
	_ui->doubleSpinBox_ORBScaleFactor->setObjectName(Parameters::kORBScaleFactor().c_str());
	_ui->spinBox_ORBNLevels->setObjectName(Parameters::kORBNLevels().c_str());
	_ui->spinBox_ORBEdgeThreshold->setObjectName(Parameters::kORBEdgeThreshold().c_str());
	_ui->spinBox_ORBFirstLevel->setObjectName(Parameters::kORBFirstLevel().c_str());
	_ui->spinBox_ORBWTA_K->setObjectName(Parameters::kORBWTA_K().c_str());
	_ui->spinBox_ORBScoreType->setObjectName(Parameters::kORBScoreType().c_str());
	_ui->spinBox_ORBPatchSize->setObjectName(Parameters::kORBPatchSize().c_str());
	_ui->checkBox_ORBGpu->setObjectName(Parameters::kORBGpu().c_str());

	//FREAK descriptor
	_ui->checkBox_FREAKOrientationNormalized->setObjectName(Parameters::kFREAKOrientationNormalized().c_str());
	_ui->checkBox_FREAKScaleNormalized->setObjectName(Parameters::kFREAKScaleNormalized().c_str());
	_ui->doubleSpinBox_FREAKPatternScale->setObjectName(Parameters::kFREAKPatternScale().c_str());
	_ui->spinBox_FREAKNOctaves->setObjectName(Parameters::kFREAKNOctaves().c_str());

	//GFTT detector
	_ui->doubleSpinBox_GFTT_qualityLevel->setObjectName(Parameters::kGFTTQualityLevel().c_str());
	_ui->doubleSpinBox_GFTT_minDistance->setObjectName(Parameters::kGFTTMinDistance().c_str());
	_ui->spinBox_GFTT_blockSize->setObjectName(Parameters::kGFTTBlockSize().c_str());
	_ui->checkBox_GFTT_useHarrisDetector->setObjectName(Parameters::kGFTTUseHarrisDetector().c_str());
	_ui->doubleSpinBox_GFTT_k->setObjectName(Parameters::kGFTTK().c_str());

	//BRISK
	_ui->spinBox_BRISK_thresh->setObjectName(Parameters::kBRISKThresh().c_str());
	_ui->spinBox_BRISK_octaves->setObjectName(Parameters::kBRISKOctaves().c_str());
	_ui->doubleSpinBox_BRISK_patterScale->setObjectName(Parameters::kBRISKPatternScale().c_str());

	// verifyHypotheses
	_ui->comboBox_vh_strategy->setObjectName(Parameters::kRtabmapVhStrategy().c_str());
	_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
	_ui->surf_doubleSpinBox_ransacParam1->setObjectName(Parameters::kVhEpRansacParam1().c_str());
	_ui->surf_doubleSpinBox_ransacParam2->setObjectName(Parameters::kVhEpRansacParam2().c_str());

	// RGB-D SLAM
	_ui->general_checkBox_activateRGBD->setObjectName(Parameters::kRGBDEnabled().c_str());
	_ui->rgdb_linearUpdate->setObjectName(Parameters::kRGBDLinearUpdate().c_str());
	_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
	_ui->rgdb_rehearsalWeightIgnoredWhileMoving->setObjectName(Parameters::kMemRehearsalWeightIgnoredWhileMoving().c_str());
	_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
	_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());
	_ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str());

	_ui->graphOptimization_type->setObjectName(Parameters::kOptimizerStrategy().c_str());
	_ui->graphOptimization_slam2d->setObjectName(Parameters::kOptimizerSlam2D().c_str());
	_ui->graphOptimization_iterations->setObjectName(Parameters::kOptimizerIterations().c_str());
	_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kOptimizerVarianceIgnored().c_str());
	_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
	_ui->graphOptimization_maxError->setObjectName(Parameters::kRGBDOptimizeMaxError().c_str());
	_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kOptimizerEpsilon().c_str());
	_ui->graphOptimization_robust->setObjectName(Parameters::kOptimizerRobust().c_str());

	_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
	_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
	_ui->graphPlan_stuckIterations->setObjectName(Parameters::kRGBDPlanStuckIterations().c_str());
	_ui->graphPlan_linearVelocity->setObjectName(Parameters::kRGBDPlanLinearVelocity().c_str());
	_ui->graphPlan_angularVelocity->setObjectName(Parameters::kRGBDPlanAngularVelocity().c_str());

	_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDProximityByTime().c_str());
	_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str());
	_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
	_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str());
	_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str());
	_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());
	_ui->checkBox_localSpaceAssembleScans->setObjectName(Parameters::kRGBDProximityPathScansMerged().c_str());
	_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());

	_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kVisMinInliers().c_str());
	_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kVisInlierDistance().c_str());
	_ui->loopClosure_bowIterations->setObjectName(Parameters::kVisIterations().c_str());
	_ui->loopClosure_bowRefineIterations->setObjectName(Parameters::kVisRefineIterations().c_str());
	_ui->loopClosure_bowForce2D->setObjectName(Parameters::kVisForce2D().c_str());
	_ui->loopClosure_estimationType->setObjectName(Parameters::kVisEstimationType().c_str());
	connect(_ui->loopClosure_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureEstimation, SLOT(setCurrentIndex(int)));
	_ui->stackedWidget_loopClosureEstimation->setCurrentIndex(Parameters::defaultVisEstimationType());
	_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kVisEpipolarGeometryVar().c_str());
	_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
	_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
	_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());

	_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
	_ui->reextract_nn->setObjectName(Parameters::kVisNNType().c_str());
	_ui->reextract_nndrRatio->setObjectName(Parameters::kVisNNDR().c_str());
	_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
	_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
	_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
	_ui->loopClosure_bowMinDepth->setObjectName(Parameters::kVisMinDepth().c_str());
	_ui->loopClosure_roi->setObjectName(Parameters::kVisRoiRatios().c_str());
	_ui->subpix_winSize->setObjectName(Parameters::kVisSubPixWinSize().c_str());
	_ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str());
	_ui->subpix_eps->setObjectName(Parameters::kVisSubPixEps().c_str());

	_ui->loopClosure_icp->setObjectName(Parameters::kRGBDLoopClosureLinkRefining().c_str());
	_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kIcpMaxTranslation().c_str());
	_ui->globalDetection_icpMaxRotation->setObjectName(Parameters::kIcpMaxRotation().c_str());
	_ui->loopClosure_icp2D->setObjectName(Parameters::kIcp2D().c_str());

	_ui->loopClosure_icpVoxelSize->setObjectName(Parameters::kIcpVoxelSize().c_str());
	_ui->loopClosure_icpDownsamplingStep->setObjectName(Parameters::kIcpDownsamplingStep().c_str());
	_ui->loopClosure_icpMaxCorrespondenceDistance->setObjectName(Parameters::kIcpMaxCorrespondenceDistance().c_str());
	_ui->loopClosure_icpIterations->setObjectName(Parameters::kIcpIterations().c_str());
	_ui->loopClosure_icpRatio->setObjectName(Parameters::kIcpCorrespondenceRatio().c_str());
	_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
	_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneNormalNeighbors().c_str());


	//Odometry
	_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
	_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
	_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
	_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
	_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());

	//Odometry BOW
	_ui->odom_localHistory->setObjectName(Parameters::kOdomBowLocalHistorySize().c_str());
	_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomBowFixedLocalMapPath().c_str());
	connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));

	//Odometry Optical Flow
	_ui->odom_flow_winSize->setObjectName(Parameters::kOdomFlowWinSize().c_str());
	_ui->odom_flow_maxLevel->setObjectName(Parameters::kOdomFlowMaxLevel().c_str());
	_ui->odom_flow_iterations->setObjectName(Parameters::kOdomFlowIterations().c_str());
	_ui->odom_flow_eps->setObjectName(Parameters::kOdomFlowEps().c_str());

	//Odometry Mono
	_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
	_ui->doubleSpinBox_minInitTranslation->setObjectName(Parameters::kOdomMonoInitMinTranslation().c_str());
	_ui->doubleSpinBox_minTranslation->setObjectName(Parameters::kOdomMonoMinTranslation().c_str());
	_ui->doubleSpinBox_maxVariance->setObjectName(Parameters::kOdomMonoMaxVariance().c_str());

	//Odometry particle filter
	_ui->odom_particleFiltering->setObjectName(Parameters::kOdomParticleFiltering().c_str());
	_ui->spinBox_particleSize->setObjectName(Parameters::kOdomParticleSize().c_str());
	_ui->doubleSpinBox_particleNoiseT->setObjectName(Parameters::kOdomParticleNoiseT().c_str());
	_ui->doubleSpinBox_particleLambdaT->setObjectName(Parameters::kOdomParticleLambdaT().c_str());
	_ui->doubleSpinBox_particleNoiseR->setObjectName(Parameters::kOdomParticleNoiseR().c_str());
	_ui->doubleSpinBox_particleLambdaR->setObjectName(Parameters::kOdomParticleLambdaR().c_str());

	//Stereo
	_ui->stereo_flow_winSize->setObjectName(Parameters::kStereoWinSize().c_str());
	_ui->stereo_flow_maxLevel->setObjectName(Parameters::kStereoMaxLevel().c_str());
	_ui->stereo_flow_iterations->setObjectName(Parameters::kStereoIterations().c_str());
	_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
	_ui->stereo_maxSlope->setObjectName(Parameters::kStereoMaxSlope().c_str());


	setupSignals();
	// custom signals
	connect(_ui->doubleSpinBox_kp_roi0, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
	connect(_ui->doubleSpinBox_kp_roi1, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
	connect(_ui->doubleSpinBox_kp_roi2, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
	connect(_ui->doubleSpinBox_kp_roi3, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));

	//Create a model from the stacked widgets
	// This will add all parameters to the parameters Map
	_ui->stackedWidget->setCurrentIndex(0);
	this->setupTreeView();
	connect(_ui->treeView, SIGNAL(clicked(QModelIndex)), this, SLOT(clicked(QModelIndex)));

	_obsoletePanels = kPanelAll;

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

PreferencesDialog::~PreferencesDialog() {
	// remove tmp ini file
	QFile::remove(getTmpIniFilePath());
	delete _ui;
}

void PreferencesDialog::init()
{
	UDEBUG("");
	//First set all default values
	const ParametersMap & defaults = Parameters::getDefaultParameters();
	for(ParametersMap::const_iterator iter=defaults.begin(); iter!=defaults.end(); ++iter)
	{
		this->setParameter(iter->first, iter->second);
	}

	this->readSettings();
	this->writeSettings(getTmpIniFilePath());

	_initialized = true;
}

void PreferencesDialog::setCurrentPanelToSource()
{
	QList<QGroupBox*> boxes = this->getGroupBoxes();
	for(int i =0;i<boxes.size();++i)
	{
		if(boxes[i] == _ui->groupBox_source0)
		{
			_ui->stackedWidget->setCurrentIndex(i);
			_ui->treeView->setCurrentIndex(_indexModel->index(i-2, 0));
			break;
		}
	}
}

void PreferencesDialog::saveSettings()
{
	writeSettings();
}

void PreferencesDialog::setupTreeView()
{
	if(_indexModel)
	{
		_ui->treeView->setModel(0);
		delete _indexModel;
	}
	_indexModel = new QStandardItemModel(this);
	// Parse the model
	QList<QGroupBox*> boxes = this->getGroupBoxes();
	if(_ui->radioButton_basic->isChecked())
	{
		boxes = boxes.mid(0,5);
	}
	else // Advanced
	{
		boxes.removeAt(4);
	}

	QStandardItem * parentItem = _indexModel->invisibleRootItem();
	int index = 0;
	this->parseModel(boxes, parentItem, 0, index); // recursive method
	if(_ui->radioButton_advanced->isChecked() && index != _ui->stackedWidget->count()-1)
	{
		ULOGGER_ERROR("The tree model is not the same size of the stacked widgets...%d vs %d advanced stacks", index, _ui->stackedWidget->count()-1);
	}
	int currentIndex = _ui->stackedWidget->currentIndex();
	if(_ui->radioButton_basic->isChecked())
	{
		if(currentIndex >= 4)
		{
			_ui->stackedWidget->setCurrentIndex(4);
			currentIndex = 4;
		}
	}
	else // Advanced
	{
		if(currentIndex == 4)
		{
			_ui->stackedWidget->setCurrentIndex(5);
		}
	}
	_ui->treeView->setModel(_indexModel);
	if(currentIndex == 0) // GUI
	{
		_ui->treeView->setCurrentIndex(_indexModel->index(0, 0));
	}
	else if(currentIndex == 1) //3d rendering
	{
		_ui->treeView->setCurrentIndex(_indexModel->index(0, 0).child(0,0));
	}
	else if(currentIndex == 2) // logging
	{
		_ui->treeView->setCurrentIndex(_indexModel->index(0, 0).child(1,0));
	}
	else // source, rtabmap
	{
		_ui->treeView->setCurrentIndex(_indexModel->index(currentIndex-2, 0));
	}
	_ui->treeView->expandToDepth(0);
}

// recursive...
bool PreferencesDialog::parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex)
{
	if(parentItem == 0)
	{
		ULOGGER_ERROR("Parent item is null !");
		return false;
	}

	QStandardItem * currentItem = 0;
	while(absoluteIndex < boxes.size())
	{
		QString objectName = boxes.at(absoluteIndex)->objectName();
		QString title = boxes.at(absoluteIndex)->title();
		bool ok = false;
		int lvl = QString(objectName.at(objectName.size()-1)).toInt(&ok);
		if(!ok)
		{
			ULOGGER_ERROR("Error while parsing the first number of the QGroupBox title (%s), the first character must be the number in the hierarchy", title.toStdString().c_str());
			return false;
		}


		if(lvl == currentLevel)
		{
			QStandardItem * item = new QStandardItem(title);
			item->setData(absoluteIndex);
			currentItem = item;
			//ULOGGER_DEBUG("PreferencesDialog::parseModel() lvl(%d) Added %s", currentLevel, title.toStdString().c_str());
			parentItem->appendRow(item);
			++absoluteIndex;
		}
		else if(lvl > currentLevel)
		{
			if(lvl>currentLevel+1)
			{
				ULOGGER_ERROR("Intermediary lvl doesn't exist, lvl %d to %d, indexes %d and %d", currentLevel, lvl, absoluteIndex-1, absoluteIndex);
				return false;
			}
			else
			{
				parseModel(boxes, currentItem, currentLevel+1, absoluteIndex); // recursive
			}
		}
		else
		{
			return false;
		}
	}
	return true;
}

void PreferencesDialog::setupSignals()
{
	const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
	for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
	{
		QWidget * obj = _ui->stackedWidget->findChild<QWidget*>((*iter).first.c_str());
		if(obj)
		{
			// set tooltip as the parameter name
			obj->setToolTip(tr("%1 (Default=\"%2\")").arg(iter->first.c_str()).arg(iter->second.c_str()));

			QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
			QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
			QComboBox * combo = qobject_cast<QComboBox *>(obj);
			QCheckBox * check = qobject_cast<QCheckBox *>(obj);
			QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
			QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
			QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
			if(spin)
			{
				connect(spin, SIGNAL(valueChanged(int)), this, SLOT(addParameter(int)));
			}
			else if(doubleSpin)
			{
				connect(doubleSpin, SIGNAL(valueChanged(double)), this, SLOT(addParameter(double)));
			}
			else if(combo)
			{
				connect(combo, SIGNAL(currentIndexChanged(int)), this, SLOT(addParameter(int)));
			}
			else if(check)
			{
				connect(check, SIGNAL(toggled(bool)), this, SLOT(addParameter(bool)));
			}
			else if(radio)
			{
				connect(radio, SIGNAL(toggled(bool)), this, SLOT(addParameter(bool)));
			}
			else if(lineEdit)
			{
				connect(lineEdit, SIGNAL(textChanged(const QString &)), this, SLOT(addParameter(const QString &)));
			}
			else if(groupBox)
			{
				connect(groupBox, SIGNAL(clicked(bool)), this, SLOT(addParameter(bool)));
			}
			else
			{
				ULOGGER_WARN("QWidget called %s can't be cast to a supported widget", (*iter).first.c_str());
			}
		}
		else
		{
			ULOGGER_WARN("Can't find the related QWidget for parameter %s", (*iter).first.c_str());
		}
	}
}

void PreferencesDialog::clicked(const QModelIndex &index)
 {
	QStandardItem * item = _indexModel->itemFromIndex(index);
	if(item && item->isEnabled())
	{
		int index = item->data().toInt();
		if(_ui->radioButton_advanced->isChecked() && index >= 4)
		{
			++index;
		}
		_ui->stackedWidget->setCurrentIndex(index);
		_ui->scrollArea->horizontalScrollBar()->setValue(0);
		_ui->scrollArea->verticalScrollBar()->setValue(0);
	}
 }

void PreferencesDialog::closeEvent(QCloseEvent *event)
{
	UDEBUG("");
	_parameters.clear();
	_obsoletePanels = kPanelDummy;
	this->readGuiSettings(getTmpIniFilePath());
	this->readCameraSettings(getTmpIniFilePath());
	event->accept();
}

void PreferencesDialog::closeDialog ( QAbstractButton * button )
{
	UDEBUG("");

	QDialogButtonBox::ButtonRole role = _ui->buttonBox_global->buttonRole(button);
	switch(role)
	{
	case QDialogButtonBox::RejectRole:
		_parameters.clear();
		_obsoletePanels = kPanelDummy;
		this->readGuiSettings(getTmpIniFilePath());
		this->readCameraSettings(getTmpIniFilePath());
		this->reject();
		break;

	case QDialogButtonBox::AcceptRole:
		updateBasicParameter();// make that changes without editing finished signal are updated.
		if((_obsoletePanels & kPanelAll) || _parameters.size())
		{
			if(validateForm())
			{
				writeSettings(getTmpIniFilePath());
				this->accept();
			}
		}
		else
		{
			this->accept();
		}
		break;

	default:
		break;
	}
}

void PreferencesDialog::resetApply ( QAbstractButton * button )
{
	QDialogButtonBox::ButtonRole role = _ui->buttonBox_local->buttonRole(button);
	switch(role)
	{
	case QDialogButtonBox::ApplyRole:
		updateBasicParameter();// make that changes without editing finished signal are updated.
		if(validateForm())
		{
			writeSettings(getTmpIniFilePath());
		}
		break;

	case QDialogButtonBox::ResetRole:
		resetSettings(_ui->stackedWidget->currentIndex());
		break;

	default:
		break;
	}
}

void PreferencesDialog::resetSettings(QGroupBox * groupBox)
{
	if(groupBox->objectName() == _ui->groupBox_generalSettingsGui0->objectName())
	{
		_ui->general_checkBox_imagesKept->setChecked(true);
		_ui->checkBox_beep->setChecked(false);
		_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(false);
		_ui->checkBox_verticalLayoutUsed->setChecked(true);
		_ui->checkBox_imageRejectedShown->setChecked(true);
		_ui->checkBox_imageHighestHypShown->setChecked(false);
		_ui->spinBox_odomQualityWarnThr->setValue(50);
		_ui->checkBox_posteriorGraphView->setChecked(true);
	}
	else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName())
	{
		for(int i=0; i<2; ++i)
		{
			_3dRenderingShowClouds[i]->setChecked(true);
			_3dRenderingVoxelSize[i]->setValue(i==0?0.01:0.0); // voxel of 1 cm for cloud substracting
			_3dRenderingDecimation[i]->setValue(i==0?4:2);
			_3dRenderingMaxDepth[i]->setValue(0.0);
			_3dRenderingShowScans[i]->setChecked(true);

			_3dRenderingDownsamplingScan[i]->setValue(0);
			_3dRenderingVoxelSizeScan[i]->setValue(0.0);
			_3dRenderingOpacity[i]->setValue(i==0?1.0:0.5);
			_3dRenderingPtSize[i]->setValue(2);
			_3dRenderingOpacityScan[i]->setValue(i==0?1.0:0.5);
			_3dRenderingPtSizeScan[i]->setValue(2);
		}

		_ui->checkBox_showGraphs->setChecked(true);
		_ui->checkBox_showLabels->setChecked(true);

		_ui->checkBox_meshing->setChecked(false);
		_ui->doubleSpinBox_gp3Radius->setValue(0.04);
		_ui->doubleSpinBox_gp3Mu->setValue(2.5);
		_ui->spinBox_normalKSearch->setValue(20);
		_ui->checkBox_mls->setChecked(false);
		_ui->doubleSpinBox_mlsRadius->setValue(0.04);

		_ui->checkBox_nodeFiltering->setChecked(false);
		_ui->checkBox_subtractFiltering->setChecked(true);
		_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
		_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
		_ui->spinBox_substractFilteringMinPts->setValue(1);

		_ui->checkBox_map_shown->setChecked(false);
		_ui->doubleSpinBox_map_resolution->setValue(0.05);
		_ui->checkBox_map_occupancyFrom3DCloud->setChecked(false);
		_ui->checkBox_map_erode->setChecked(false);
		_ui->doubleSpinBox_map_opacity->setValue(0.75);
	}
	else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
	{
		_ui->comboBox_loggerLevel->setCurrentIndex(2);
		_ui->comboBox_loggerEventLevel->setCurrentIndex(3);
		_ui->comboBox_loggerPauseLevel->setCurrentIndex(3);
		_ui->checkBox_logger_printTime->setChecked(true);
		_ui->comboBox_loggerType->setCurrentIndex(1);
	}
	else if(groupBox->objectName() == _ui->groupBox_source0->objectName())
	{
		_ui->general_doubleSpinBox_imgRate->setValue(0.0);
		_ui->source_mirroring->setChecked(false);
		_ui->lineEdit_calibrationFile->clear();
		_ui->comboBox_sourceType->setCurrentIndex(kSrcRGBD);
		_ui->lineEdit_sourceDevice->setText("");
		_ui->lineEdit_sourceLocalTransform->setText("0 0 1 -1 0 0 0 -1 0");

		_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
		_ui->source_images_spinBox_startPos->setValue(1);
		_ui->source_images_refreshDir->setChecked(false);
		_ui->checkBox_rgbImages_rectify->setChecked(false);
		_ui->checkBox_rgbVideo_rectify->setChecked(false);

		_ui->source_checkBox_ignoreOdometry->setChecked(false);
		_ui->source_checkBox_ignoreGoalDelay->setChecked(true);
		_ui->source_checkBox_ignoreGoals->setChecked(true);
		_ui->source_spinBox_databaseStartPos->setValue(0);
		_ui->source_checkBox_useDbStamps->setChecked(true);

#ifdef _WIN32
		_ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI2-kSrcRGBD); // openni2
#else
		if(CameraFreenect::available())
		{
			_ui->comboBox_cameraRGBD->setCurrentIndex(kSrcFreenect-kSrcRGBD); // freenect
		}
		else if(CameraOpenNI2::available())
		{
			_ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI2-kSrcRGBD); // openni2
		}
		else
		{
			_ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI_PCL-kSrcRGBD); // openni-pcl
		}
#endif
		if(CameraStereoDC1394::available())
		{
			_ui->comboBox_cameraStereo->setCurrentIndex(kSrcDC1394-kSrcStereo); // dc1394
		}
		else if(CameraStereoFlyCapture2::available())
		{
			_ui->comboBox_cameraStereo->setCurrentIndex(kSrcFlyCapture2-kSrcStereo); // flycapture
		}
		else
		{
			_ui->comboBox_cameraStereo->setCurrentIndex(kSrcStereoImages-kSrcStereo); // stereo images
		}

		_ui->checkbox_rgbd_colorOnly->setChecked(false);
		_ui->checkbox_stereo_depthGenerated->setChecked(false);
		_ui->openni2_autoWhiteBalance->setChecked(true);
		_ui->openni2_autoExposure->setChecked(true);
		_ui->openni2_exposure->setValue(0);
		_ui->openni2_gain->setValue(100);
		_ui->openni2_mirroring->setChecked(false);
		_ui->openni2_stampsIdsUsed->setChecked(false);
		_ui->comboBox_freenect2Format->setCurrentIndex(0);
		_ui->doubleSpinBox_freenect2MinDepth->setValue(0.3);
		_ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0);
		_ui->checkBox_freenect2BilateralFiltering->setChecked(true);
		_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true);
		_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
		_ui->lineEdit_openniOniPath->clear();
		_ui->lineEdit_openni2OniPath->clear();
		_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
		_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
		_ui->checkBox_RGBDImages_timestamps->setChecked(false);
		_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
		_ui->lineEdit_cameraRGBDImages_timestamps->setText("");

		_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
		_ui->lineEdit_cameraStereoImages_timestamps->setText("");
		_ui->lineEdit_cameraStereoImages_path_left->setText("");
		_ui->lineEdit_cameraStereoImages_path_right->setText("");
		_ui->lineEdit_cameraStereoImages_path_scans->setText("");
		_ui->lineEdit_cameraStereoImages_laser_transform->setText("0 0 0 0 0 0");
		_ui->spinBox_cameraStereoImages_max_scan_pts->setValue(0);
		_ui->checkBox_stereoImages_timestamps->setChecked(false);
		_ui->checkBox_stereoImages_rectify->setChecked(false);
		_ui->lineEdit_cameraStereoVideo_path->setText("");
		_ui->checkBox_stereoVideo_rectify->setChecked(false);
	}
	else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
	{
		_ui->general_doubleSpinBox_timeThr_2->setValue(Parameters::defaultRtabmapTimeThr());
		_ui->general_doubleSpinBox_hardThr_2->setValue(Parameters::defaultRtabmapLoopThr());
		_ui->doubleSpinBox_similarityThreshold_2->setValue(Parameters::defaultMemRehearsalSimilarity());
		_ui->general_spinBox_imagesBufferSize_2->setValue(Parameters::defaultRtabmapImageBufferSize());
		_ui->general_spinBox_maxStMemSize_2->setValue(Parameters::defaultMemSTMSize());
		_ui->general_checkBox_publishStats_2->setChecked(Parameters::defaultRtabmapPublishStats());
		_ui->general_checkBox_activateRGBD_2->setChecked(Parameters::defaultRGBDEnabled());
		_ui->general_checkBox_SLAM_mode_2->setChecked(Parameters::defaultMemIncrementalMemory());
		_ui->general_doubleSpinBox_detectionRate_2->setValue(Parameters::defaultRtabmapDetectionRate());
		// match the advanced (spin and doubleSpin boxes)
		_ui->general_doubleSpinBox_timeThr->setValue(Parameters::defaultRtabmapTimeThr());
		_ui->general_doubleSpinBox_hardThr->setValue(Parameters::defaultRtabmapLoopThr());
		_ui->doubleSpinBox_similarityThreshold->setValue(Parameters::defaultMemRehearsalSimilarity());
		_ui->general_spinBox_imagesBufferSize->setValue(Parameters::defaultRtabmapImageBufferSize());
		_ui->general_spinBox_maxStMemSize->setValue(Parameters::defaultMemSTMSize());
		_ui->general_doubleSpinBox_detectionRate->setValue(Parameters::defaultRtabmapDetectionRate());
	}
	else
	{
		QObjectList children = groupBox->children();
		rtabmap::ParametersMap defaults = Parameters::getDefaultParameters();
		std::string key;
		for(int i=0; i<children.size(); ++i)
		{
			key = children.at(i)->objectName().toStdString();
			if(uContains(defaults, key))
			{
				this->setParameter(key, defaults.at(key));
				if(qobject_cast<const QGroupBox*>(children.at(i)))
				{
					this->resetSettings((QGroupBox*)children.at(i));
				}
			}
			else if(qobject_cast<const QGroupBox*>(children.at(i)))
			{
				this->resetSettings((QGroupBox*)children.at(i));
			}
			else if(qobject_cast<const QStackedWidget*>(children.at(i)))
			{
				QStackedWidget * stackedWidget = (QStackedWidget*)children.at(i);
				for(int j=0; j<stackedWidget->count(); ++j)
				{
					const QObjectList & children2 = stackedWidget->widget(j)->children();
					for(int k=0; k<children2.size(); ++k)
					{
						if(qobject_cast<QGroupBox *>(children2.at(k)))
						{
							this->resetSettings((QGroupBox*)children2.at(k));
						}
					}
				}
			}
		}

		if(groupBox->findChild<QLineEdit*>(_ui->lineEdit_kp_roi->objectName()))
		{
			this->setupKpRoiPanel();
		}
	}
}

void PreferencesDialog::resetSettings(int panelNumber)
{
	QList<QGroupBox*> boxes = this->getGroupBoxes();
	if(panelNumber >= 0 && panelNumber < boxes.size())
	{
		this->resetSettings(boxes.at(panelNumber));
	}
	else if(panelNumber == -1)
	{
		for(QList<QGroupBox*>::iterator iter = boxes.begin(); iter!=boxes.end(); ++iter)
		{
			this->resetSettings(*iter);
		}
	}
	else
	{
		ULOGGER_WARN("panel number and the number of stacked widget doesn't match");
	}

}

QString PreferencesDialog::getWorkingDirectory() const
{
	return _ui->lineEdit_workingDirectory->text();
}

QString PreferencesDialog::getIniFilePath() const
{
	QString privatePath = QDir::homePath() + "/.rtabmap";
	if(!QDir(privatePath).exists())
	{
		QDir::home().mkdir(".rtabmap");
	}
	return privatePath + "/rtabmap.ini";
}

QString PreferencesDialog::getTmpIniFilePath() const
{
	return getIniFilePath()+".tmp";
}

void PreferencesDialog::loadConfigFrom()
{
	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), this->getWorkingDirectory(), "*.ini");
	if(!path.isEmpty())
	{
		this->readSettings(path);
	}
}

void PreferencesDialog::readSettings(const QString & filePath)
{
	ULOGGER_DEBUG("%s", filePath.toStdString().c_str());
	readGuiSettings(filePath);
	readCameraSettings(filePath);
	if(!readCoreSettings(filePath))
	{
		_parameters.clear();
		_obsoletePanels = kPanelDummy;

		// only keep GUI settings
		QStandardItem * parentItem = _indexModel->invisibleRootItem();
		if(parentItem)
		{
			for(int i=1; i<parentItem->rowCount(); ++i)
			{
				parentItem->child(i)->setEnabled(false);
			}
		}
		_ui->radioButton_basic->setEnabled(false);
		_ui->radioButton_advanced->setEnabled(false);
	}
	else
	{
		// enable settings
		QStandardItem * parentItem = _indexModel->invisibleRootItem();
		if(parentItem)
		{
			for(int i=0; i<parentItem->rowCount(); ++i)
			{
				parentItem->child(i)->setEnabled(true);
			}
		}
		_ui->radioButton_basic->setEnabled(true);
		_ui->radioButton_advanced->setEnabled(true);
	}
}

void PreferencesDialog::readGuiSettings(const QString & filePath)
{
	QString path = getIniFilePath();
	if(!filePath.isEmpty())
	{
		path = filePath;
	}
	QSettings settings(path, QSettings::IniFormat);
	settings.beginGroup("Gui");
	settings.beginGroup("General");
	_ui->general_checkBox_imagesKept->setChecked(settings.value("imagesKept", _ui->general_checkBox_imagesKept->isChecked()).toBool());
	_ui->comboBox_loggerLevel->setCurrentIndex(settings.value("loggerLevel", _ui->comboBox_loggerLevel->currentIndex()).toInt());
	_ui->comboBox_loggerEventLevel->setCurrentIndex(settings.value("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex()).toInt());
	_ui->comboBox_loggerPauseLevel->setCurrentIndex(settings.value("loggerPauseLevel", _ui->comboBox_loggerPauseLevel->currentIndex()).toInt());
	_ui->comboBox_loggerType->setCurrentIndex(settings.value("loggerType", _ui->comboBox_loggerType->currentIndex()).toInt());
	_ui->checkBox_logger_printTime->setChecked(settings.value("loggerPrintTime", _ui->checkBox_logger_printTime->isChecked()).toBool());
	_ui->checkBox_verticalLayoutUsed->setChecked(settings.value("verticalLayoutUsed", _ui->checkBox_verticalLayoutUsed->isChecked()).toBool());
	_ui->checkBox_imageRejectedShown->setChecked(settings.value("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()).toBool());
	_ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool());
	_ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool());
	_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
	_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
	_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());

	for(int i=0; i<2; ++i)
	{
		_3dRenderingShowClouds[i]->setChecked(settings.value(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked()).toBool());
		_3dRenderingVoxelSize[i]->setValue(settings.value(QString("voxelSize%1").arg(i), _3dRenderingVoxelSize[i]->value()).toDouble());
		_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
		_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
		_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());

		_3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt());
		_3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble());
		_3dRenderingOpacity[i]->setValue(settings.value(QString("opacity%1").arg(i), _3dRenderingOpacity[i]->value()).toDouble());
		_3dRenderingPtSize[i]->setValue(settings.value(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()).toInt());
		_3dRenderingOpacityScan[i]->setValue(settings.value(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()).toDouble());
		_3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
	}
	_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_meshing->setChecked(settings.value("meshing", _ui->checkBox_meshing->isChecked()).toBool());
	_ui->doubleSpinBox_gp3Radius->setValue(settings.value("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
	_ui->doubleSpinBox_gp3Mu->setValue(settings.value("meshGP3Mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
	_ui->spinBox_normalKSearch->setValue(settings.value("meshNormalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
	_ui->checkBox_mls->setChecked(settings.value("meshSmoothing", _ui->checkBox_mls->isChecked()).toBool());
	_ui->doubleSpinBox_mlsRadius->setValue(settings.value("meshSmoothingRadius", _ui->doubleSpinBox_mlsRadius->value()).toDouble());

	_ui->checkBox_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->checkBox_nodeFiltering->isChecked()).toBool());
	_ui->checkBox_subtractFiltering->setChecked(settings.value("subtractFiltering", _ui->checkBox_subtractFiltering->isChecked()).toBool());
	_ui->doubleSpinBox_cloudFilterRadius->setValue(settings.value("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()).toDouble());
	_ui->doubleSpinBox_cloudFilterAngle->setValue(settings.value("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()).toDouble());
	_ui->spinBox_substractFilteringMinPts->setValue(settings.value("cloudFilteringAngleMinPts", _ui->spinBox_substractFilteringMinPts->value()).toDouble());

	_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
	_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
	_ui->checkBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked()).toBool());
	_ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
	_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());

	settings.endGroup(); // General

	settings.endGroup(); // rtabmap
}

void PreferencesDialog::readCameraSettings(const QString & filePath)
{
	QString path = getIniFilePath();
	if(!filePath.isEmpty())
	{
		path = filePath;
	}
	QSettings settings(path, QSettings::IniFormat);

	settings.beginGroup("Camera");
	_ui->general_doubleSpinBox_imgRate->setValue(settings.value("imgRate", _ui->general_doubleSpinBox_imgRate->value()).toDouble());
	_ui->source_mirroring->setChecked(settings.value("mirroring", _ui->source_mirroring->isChecked()).toBool());
	_ui->lineEdit_calibrationFile->setText(settings.value("calibrationName", _ui->lineEdit_calibrationFile->text()).toString());
	_ui->comboBox_sourceType->setCurrentIndex(settings.value("type", _ui->comboBox_sourceType->currentIndex()).toInt());
	_ui->lineEdit_sourceDevice->setText(settings.value("device",_ui->lineEdit_sourceDevice->text()).toString());
	_ui->lineEdit_sourceLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_sourceLocalTransform->text()).toString());

	settings.beginGroup("rgbd");
	_ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraRGBD->currentIndex()).toInt());
	_ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool());
	settings.endGroup(); // rgbd

	settings.beginGroup("stereo");
	_ui->comboBox_cameraStereo->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraStereo->currentIndex()).toInt());
	_ui->checkbox_stereo_depthGenerated->setChecked(settings.value("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked()).toBool());
	settings.endGroup(); // stereo

	settings.beginGroup("rgb");
	_ui->source_comboBox_image_type->setCurrentIndex(settings.value("driver", _ui->source_comboBox_image_type->currentIndex()).toInt());
	settings.endGroup(); // rgb

	settings.beginGroup("Openni");
	_ui->lineEdit_openniOniPath->setText(settings.value("oniPath", _ui->lineEdit_openniOniPath->text()).toString());
	settings.endGroup(); // Openni

	settings.beginGroup("Openni2");
	_ui->openni2_autoWhiteBalance->setChecked(settings.value("autoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked()).toBool());
	_ui->openni2_autoExposure->setChecked(settings.value("autoExposure", _ui->openni2_autoExposure->isChecked()).toBool());
	_ui->openni2_exposure->setValue(settings.value("exposure", _ui->openni2_exposure->value()).toInt());
	_ui->openni2_gain->setValue(settings.value("gain", _ui->openni2_gain->value()).toInt());
	_ui->openni2_mirroring->setChecked(settings.value("mirroring", _ui->openni2_mirroring->isChecked()).toBool());
	_ui->openni2_stampsIdsUsed->setChecked(settings.value("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked()).toBool());
	_ui->lineEdit_openni2OniPath->setText(settings.value("oniPath", _ui->lineEdit_openni2OniPath->text()).toString());
	settings.endGroup(); // Openni2

	settings.beginGroup("Freenect2");
	_ui->comboBox_freenect2Format->setCurrentIndex(settings.value("format", _ui->comboBox_freenect2Format->currentIndex()).toInt());
	_ui->doubleSpinBox_freenect2MinDepth->setValue(settings.value("minDepth", _ui->doubleSpinBox_freenect2MinDepth->value()).toDouble());
	_ui->doubleSpinBox_freenect2MaxDepth->setValue(settings.value("maxDepth", _ui->doubleSpinBox_freenect2MaxDepth->value()).toDouble());
	_ui->checkBox_freenect2BilateralFiltering->setChecked(settings.value("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked()).toBool());
	_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(settings.value("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked()).toBool());
	_ui->checkBox_freenect2NoiseFiltering->setChecked(settings.value("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()).toBool());
	settings.endGroup(); // Freenect2

	settings.beginGroup("RGBDImages");
	_ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString());
	_ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString());
	_ui->checkBox_RGBDImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_RGBDImages_timestamps->isChecked()).toBool());
	_ui->lineEdit_cameraRGBDImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraRGBDImages_timestamps->text()).toString());
	_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(settings.value("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()).toDouble());
	settings.endGroup(); // RGBDImages

	settings.beginGroup("StereoImages");
	_ui->lineEdit_cameraStereoImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraStereoImages_timestamps->text()).toString());
	_ui->lineEdit_cameraStereoImages_path_left->setText(settings.value("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()).toString());
	_ui->lineEdit_cameraStereoImages_path_right->setText(settings.value("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()).toString());
	_ui->lineEdit_cameraStereoImages_path_scans->setText(settings.value("path_scans", _ui->lineEdit_cameraStereoImages_path_scans->text()).toString());
	_ui->lineEdit_cameraStereoImages_laser_transform->setText(settings.value("scan_transform", _ui->lineEdit_cameraStereoImages_laser_transform->text()).toString());
	_ui->spinBox_cameraStereoImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraStereoImages_max_scan_pts->value()).toInt());
	_ui->checkBox_stereoImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_stereoImages_timestamps->isChecked()).toBool());
	_ui->checkBox_stereoImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoImages_rectify->isChecked()).toBool());
	settings.endGroup(); // StereoImages

	settings.beginGroup("StereoVideo");
	_ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString());
	_ui->checkBox_stereoVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoVideo_rectify->isChecked()).toBool());
	settings.endGroup(); // StereoVideo

	settings.beginGroup("Images");
	_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
	_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
	_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
	_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
	settings.endGroup(); // images

	settings.beginGroup("Video");
	_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
	_ui->checkBox_rgbVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbVideo_rectify->isChecked()).toBool());
	settings.endGroup(); // video

	settings.beginGroup("Database");
	_ui->source_database_lineEdit_path->setText(settings.value("path",_ui->source_database_lineEdit_path->text()).toString());
	_ui->source_checkBox_ignoreOdometry->setChecked(settings.value("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()).toBool());
	_ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool());
	_ui->source_checkBox_ignoreGoals->setChecked(settings.value("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()).toBool());
	_ui->source_spinBox_databaseStartPos->setValue(settings.value("startPos", _ui->source_spinBox_databaseStartPos->value()).toInt());
	_ui->source_checkBox_useDbStamps->setChecked(settings.value("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()).toBool());
	settings.endGroup(); // Database

	settings.endGroup(); // Camera

	_calibrationDialog->loadSettings(settings, "CalibrationDialog");

}

bool PreferencesDialog::readCoreSettings(const QString & filePath)
{
	QString path = getIniFilePath();
	if(!filePath.isEmpty())
	{
		path = filePath;
	}

	UDEBUG("%s", path.toStdString().c_str());

	if(!QFile::exists(path))
	{
		QMessageBox::information(this, tr("INI file doesn't exist..."), tr("The configuration file \"%1\" does not exist, it will be created with default parameters.").arg(path));
	}

	QSettings settings(path, QSettings::IniFormat);


	settings.beginGroup("Core");

	// Compare version in ini with the current RTAB-Map version
	QStringList version = settings.value("Version", "").toString().split('.');
	if(version.size() == 3)
	{
		if(!RTABMAP_VERSION_COMPARE(version[0].toInt(), version[1].toInt(), version[2].toInt()))
		{
			if(path.contains(".rtabmap"))
			{
				UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
					   "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
					   "to new version.",
					   path.toStdString().c_str(),
					   settings.value("Version", "").toString().toStdString().c_str(),
					   RTABMAP_VERSION);
			}
			else
			{
				UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
					   "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
					   "be ignored.",
					   path.toStdString().c_str(),
					   settings.value("Version", "").toString().toStdString().c_str(),
					   RTABMAP_VERSION);
			}
		}
	}

	QStringList keys = settings.allKeys();
	// Get profile
	const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
	for(rtabmap::ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter)
	{
		QString key(iter->first.c_str());
		QString value = settings.value(key, "").toString();
		if(value.isEmpty())
		{
			// look for old parameter name
			rtabmap::ParametersMap::const_iterator oldIter = Parameters::getBackwardCompatibilityMap().find(iter->first);
			if(oldIter!=Parameters::getBackwardCompatibilityMap().end())
			{
				value = settings.value(QString(oldIter->second.c_str()), "").toString();
				if(!value.isEmpty())
				{
					UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
							oldIter->second.c_str(), oldIter->first.c_str(), value.toStdString().c_str());
				}
			}
		}

		if(!value.isEmpty())
		{
			if(key.toStdString().compare(Parameters::kRtabmapWorkingDirectory()) == 0)
			{
				// The directory should exist if not the default one
				if(!QDir(value).exists() && value.compare(Parameters::defaultRtabmapWorkingDirectory().c_str()) != 0)
				{
					if(QDir(this->getWorkingDirectory().toStdString().c_str()).exists())
					{
						UWARN("Reading config: Not existing working directory \"%s\". Keeping old one (\"%s\").",
							value.toStdString().c_str(),
							this->getWorkingDirectory().toStdString().c_str());
						value = this->getWorkingDirectory();
					}
					else
					{
						UWARN("Reading config: Not existing working directory \"%s\". Using default one (\"%s\").",
							value.toStdString().c_str(),
							(*iter).second.c_str());
						value = (*iter).second.c_str();
					}
				}
			}
			this->setParameter(key.toStdString(), value.toStdString());
		}
		else
		{
			UDEBUG("key.toStdString()=%s", key.toStdString().c_str());

			// Use the default value if the key doesn't exist yet
			this->setParameter(key.toStdString(), (*iter).second);

			// Add information about the working directory if not in the config file
			if(key.toStdString().compare(Parameters::kRtabmapWorkingDirectory()) == 0)
			{
				if(!_initialized)
				{
					QMessageBox::information(this,
							tr("Working directory"),
							tr("RTAB-Map needs a working directory to put the database.\n\n"
							   "By default, the directory \"%1\" is used.\n\n"
							   "The working directory can be changed any time in the "
							   "preferences menu.").arg(
									   Parameters::defaultRtabmapWorkingDirectory().c_str()));
				}
			}
		}
	}
	settings.endGroup(); // Core
	return true;
}

bool PreferencesDialog::saveConfigTo()
{
	QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), this->getWorkingDirectory()+QDir::separator()+"config.ini", "*.ini");
	if(!path.isEmpty())
	{
		writeGuiSettings(path);
		writeCameraSettings(path);
		writeCoreSettings(path);
		return true;
	}
	return false;
}

void PreferencesDialog::resetConfig()
{
	int button = QMessageBox::warning(this,
			tr("Reset settings..."),
			tr("This will reset all settings. Restore all settings to default without saving them first?"),
			   QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::Save,
			   QMessageBox::Cancel);
	if(button == QMessageBox::Yes ||
	   (button == QMessageBox::Save && saveConfigTo()))
	{
		this->resetSettings(-1);
	}
}

void PreferencesDialog::writeSettings(const QString & filePath)
{
	writeGuiSettings(filePath);
	writeCameraSettings(filePath);
	writeCoreSettings(filePath);

	UDEBUG("_obsoletePanels=%d parameters=%d", (int)_obsoletePanels, (int)_parameters.size());

	if(_parameters.size())
	{
		emit settingsChanged(_parameters);
	}

	if(_obsoletePanels)
	{
		emit settingsChanged(_obsoletePanels);
	}

	_parameters.clear();
	_obsoletePanels = kPanelDummy;
}

void PreferencesDialog::writeGuiSettings(const QString & filePath) const
{
	QString path = getIniFilePath();
	if(!filePath.isEmpty())
	{
		path = filePath;
	}
	QSettings settings(path, QSettings::IniFormat);
	settings.beginGroup("Gui");

	settings.beginGroup("General");
	settings.setValue("imagesKept",           _ui->general_checkBox_imagesKept->isChecked());
	settings.setValue("loggerLevel",          _ui->comboBox_loggerLevel->currentIndex());
	settings.setValue("loggerEventLevel",     _ui->comboBox_loggerEventLevel->currentIndex());
	settings.setValue("loggerPauseLevel",     _ui->comboBox_loggerPauseLevel->currentIndex());
	settings.setValue("loggerType",           _ui->comboBox_loggerType->currentIndex());
	settings.setValue("loggerPrintTime",      _ui->checkBox_logger_printTime->isChecked());
	settings.setValue("verticalLayoutUsed",   _ui->checkBox_verticalLayoutUsed->isChecked());
	settings.setValue("imageRejectedShown",   _ui->checkBox_imageRejectedShown->isChecked());
	settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked());
	settings.setValue("beep",                 _ui->checkBox_beep->isChecked());
	settings.setValue("notifyNewGlobalPath",  _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
	settings.setValue("odomQualityThr",       _ui->spinBox_odomQualityWarnThr->value());
	settings.setValue("posteriorGraphView",   _ui->checkBox_posteriorGraphView->isChecked());

	for(int i=0; i<2; ++i)
	{
		settings.setValue(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked());
		settings.setValue(QString("voxelSize%1").arg(i), _3dRenderingVoxelSize[i]->value());
		settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
		settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
		settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());

		settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value());
		settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value());
		settings.setValue(QString("opacity%1").arg(i), _3dRenderingOpacity[i]->value());
		settings.setValue(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value());
		settings.setValue(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value());
		settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
	}
	settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
	settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());

	settings.setValue("meshing",             _ui->checkBox_meshing->isChecked());
	settings.setValue("meshGP3Radius",       _ui->doubleSpinBox_gp3Radius->value());
	settings.setValue("meshGP3Mu",       _ui->doubleSpinBox_gp3Mu->value());
	settings.setValue("meshNormalKSearch",   _ui->spinBox_normalKSearch->value());
	settings.setValue("meshSmoothing",       _ui->checkBox_mls->isChecked());
	settings.setValue("meshSmoothingRadius", _ui->doubleSpinBox_mlsRadius->value());

	settings.setValue("cloudFiltering",          _ui->checkBox_nodeFiltering->isChecked());
	settings.setValue("subtractFiltering",       _ui->checkBox_subtractFiltering->isChecked());
	settings.setValue("cloudFilteringRadius",    _ui->doubleSpinBox_cloudFilterRadius->value());
	settings.setValue("cloudFilteringAngle",     _ui->doubleSpinBox_cloudFilterAngle->value());
	settings.setValue("subtractFilteringMinPts", _ui->spinBox_substractFilteringMinPts->value());

	settings.setValue("gridMapShown",                _ui->checkBox_map_shown->isChecked());
	settings.setValue("gridMapResolution",           _ui->doubleSpinBox_map_resolution->value());
	settings.setValue("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked());
	settings.setValue("gridMapEroded",               _ui->checkBox_map_erode->isChecked());
	settings.setValue("gridMapOpacity",              _ui->doubleSpinBox_map_opacity->value());
	settings.endGroup(); // General

	settings.endGroup(); // rtabmap
}

void PreferencesDialog::writeCameraSettings(const QString & filePath) const
{
	QString path = getIniFilePath();
	if(!filePath.isEmpty())
	{
		path = filePath;
	}
	QSettings settings(path, QSettings::IniFormat);

	settings.beginGroup("Camera");
	settings.setValue("imgRate", 		 _ui->general_doubleSpinBox_imgRate->value());
	settings.setValue("mirroring",       _ui->source_mirroring->isChecked());
	settings.setValue("calibrationName", _ui->lineEdit_calibrationFile->text());
	settings.setValue("type",            _ui->comboBox_sourceType->currentIndex());
	settings.setValue("device", 		 _ui->lineEdit_sourceDevice->text());
	settings.setValue("localTransform",  _ui->lineEdit_sourceLocalTransform->text());

	settings.beginGroup("rgbd");
	settings.setValue("driver", 	   _ui->comboBox_cameraRGBD->currentIndex());
	settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
	settings.endGroup(); // rgbd

	settings.beginGroup("stereo");
	settings.setValue("driver", 	_ui->comboBox_cameraStereo->currentIndex());
	settings.setValue("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked());
	settings.endGroup(); // stereo

	settings.beginGroup("rgb");
	settings.setValue("driver", 	_ui->source_comboBox_image_type->currentIndex());
	settings.endGroup(); // rgb

	settings.beginGroup("Openni");
	settings.setValue("oniPath", 	_ui->lineEdit_openniOniPath->text());
	settings.endGroup(); // Openni

	settings.beginGroup("Openni2");
	settings.setValue("autoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked());
	settings.setValue("autoExposure", 	  _ui->openni2_autoExposure->isChecked());
	settings.setValue("exposure", 		  _ui->openni2_exposure->value());
	settings.setValue("gain", 		      _ui->openni2_gain->value());
	settings.setValue("mirroring", 		  _ui->openni2_mirroring->isChecked());
	settings.setValue("stampsIdsUsed",    _ui->openni2_stampsIdsUsed->isChecked());
	settings.setValue("oniPath", 		  _ui->lineEdit_openni2OniPath->text());
	settings.endGroup(); // Openni2

	settings.beginGroup("Freenect2");
	settings.setValue("format",             _ui->comboBox_freenect2Format->currentIndex());
	settings.setValue("minDepth",           _ui->doubleSpinBox_freenect2MinDepth->value());
	settings.setValue("maxDepth",           _ui->doubleSpinBox_freenect2MaxDepth->value());
	settings.setValue("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked());
	settings.setValue("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked());
	settings.setValue("noiseFiltering",     _ui->checkBox_freenect2NoiseFiltering->isChecked());
	settings.endGroup(); // Freenect2

	settings.beginGroup("RGBDImages");
	settings.setValue("path_rgb",            _ui->lineEdit_cameraRGBDImages_path_rgb->text());
	settings.setValue("path_depth",          _ui->lineEdit_cameraRGBDImages_path_depth->text());
	settings.setValue("filenames_as_stamps", _ui->checkBox_RGBDImages_timestamps->isChecked());
	settings.setValue("stamps",              _ui->lineEdit_cameraRGBDImages_timestamps->text());
	settings.setValue("scale",               _ui->doubleSpinBox_cameraRGBDImages_scale->value());
	settings.endGroup(); // RGBDImages

	settings.beginGroup("StereoImages");
	settings.setValue("stamps",         _ui->lineEdit_cameraStereoImages_timestamps->text());
	settings.setValue("path_left",      _ui->lineEdit_cameraStereoImages_path_left->text());
	settings.setValue("path_right",     _ui->lineEdit_cameraStereoImages_path_right->text());
	settings.setValue("path_scans",     _ui->lineEdit_cameraStereoImages_path_scans->text());
	settings.setValue("scan_transform", _ui->lineEdit_cameraStereoImages_laser_transform->text());
	settings.setValue("scan_max_pts", _ui->spinBox_cameraStereoImages_max_scan_pts->value());
	settings.setValue("filenames_as_stamps", _ui->checkBox_stereoImages_timestamps->isChecked());
	settings.setValue("rectify", 	    _ui->checkBox_stereoImages_rectify->isChecked());
	settings.endGroup(); // StereoImages

	settings.beginGroup("StereoVideo");
	settings.setValue("path", 			_ui->lineEdit_cameraStereoVideo_path->text());
	settings.setValue("rectify", 	    _ui->checkBox_stereoVideo_rectify->isChecked());
	settings.endGroup(); // StereoVideo

	settings.beginGroup("Images");
	settings.setValue("path", 			_ui->source_images_lineEdit_path->text());
	settings.setValue("startPos", 		_ui->source_images_spinBox_startPos->value());
	settings.setValue("refreshDir", 	_ui->source_images_refreshDir->isChecked());
	settings.setValue("rectify", 	    _ui->checkBox_rgbImages_rectify->isChecked());
	settings.endGroup(); // images

	settings.beginGroup("Video");
	settings.setValue("path", 			_ui->source_video_lineEdit_path->text());
	settings.setValue("rectify", 	    _ui->checkBox_rgbVideo_rectify->isChecked());
	settings.endGroup(); // video

	settings.beginGroup("Database");
	settings.setValue("path", 			   _ui->source_database_lineEdit_path->text());
	settings.setValue("ignoreOdometry",    _ui->source_checkBox_ignoreOdometry->isChecked());
	settings.setValue("ignoreGoalDelay",   _ui->source_checkBox_ignoreGoalDelay->isChecked());
	settings.setValue("ignoreGoals",       _ui->source_checkBox_ignoreGoals->isChecked());
	settings.setValue("startPos",          _ui->source_spinBox_databaseStartPos->value());
	settings.setValue("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked());
	settings.endGroup(); // Database

	settings.endGroup(); // Camera

	_calibrationDialog->saveSettings(settings, "CalibrationDialog");
}

void PreferencesDialog::writeCoreSettings(const QString & filePath) const
{
	QString path = getIniFilePath();
	if(!filePath.isEmpty())
	{
		path = filePath;
	}
	QSettings settings(path, QSettings::IniFormat);
	settings.beginGroup("Core");

	// save current RTAB-Map version
	settings.setValue("Version", QString(RTABMAP_VERSION));

	const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
	for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
	{
		QObject * obj = _ui->stackedWidget->findChild<QObject*>((*iter).first.c_str());
		if(obj)
		{
			QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
			QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
			QComboBox * combo = qobject_cast<QComboBox *>(obj);
			QCheckBox * check = qobject_cast<QCheckBox *>(obj);
			QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
			QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
			QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
			if(spin)
			{
				settings.setValue(obj->objectName(), spin->value());
			}
			else if(doubleSpin)
			{
				settings.setValue(obj->objectName(), doubleSpin->value());
			}
			else if(combo)
			{
				settings.setValue(obj->objectName(), combo->currentIndex());
			}
			else if(check)
			{
				settings.setValue(obj->objectName(), uBool2Str(check->isChecked()).c_str());
			}
			else if(radio)
			{
				settings.setValue(obj->objectName(), uBool2Str(radio->isChecked()).c_str());
			}
			else if(lineEdit)
			{
				settings.setValue(obj->objectName(), lineEdit->text());
			}
			else if(groupBox)
			{
				settings.setValue(obj->objectName(), uBool2Str(groupBox->isChecked()).c_str());
			}
			else
			{
				ULOGGER_WARN("QObject called %s can't be cast to a supported widget", (*iter).first.c_str());
			}
		}
		else
		{
			ULOGGER_WARN("Can't find the related QObject for parameter %s", (*iter).first.c_str());
		}
	}
	settings.endGroup(); // Core
}

bool PreferencesDialog::validateForm()
{
	if(RTABMAP_NONFREE == 0)
	{
		// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
		// BOW dictionary type
		if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
		{
			QMessageBox::warning(this, tr("Parameter warning"),
					tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
					   "with the nonfree module from OpenCV. ORB is set instead for the bag-of-words dictionary."));
			_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
		}
		// BOW Reextract features type
		if(_ui->reextract_type->currentIndex() <= 1)
		{
			QMessageBox::warning(this, tr("Parameter warning"),
					tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
					   "with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
					   "of features on loop closure."));
			_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureFastBrief);
		}
	}

	// optimization strategy
	if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
	{
		if(_ui->graphOptimization_type->currentIndex() == 1)
		{
			QMessageBox::warning(this, tr("Parameter warning"),
					tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built "
					   "with g2o. TORO is set instead for graph optimization strategy."));
			_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO);
		}
	}
	if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
	{
		if(_ui->graphOptimization_type->currentIndex() == 2)
		{
			QMessageBox::warning(this, tr("Parameter warning"),
					tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built "
					   "with GTSAM. TORO is set instead for graph optimization strategy."));
			_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO);
		}
	}

	//verify binary features and nearest neighbor
	// BOW dictionary type
	if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1)
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
				   "cannot be LSH (used for binary descriptor). KD-tree is set instead for the bag-of-words dictionary."));
		_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNFlannKdTree);
	}
	else if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->comboBox_detector_strategy->currentIndex() >1)
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
				   "cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for the bag-of-words dictionary."));
		_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNBruteForce);
	}

	// BOW Reextract features type
	if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->reextract_type->currentIndex() <= 1)
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
				   "cannot be LSH (used for binary descriptor). KD-tree is set instead for the re-extraction "
					   "of features on loop closure."));
		_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNFlannKdTree);
	}
	else if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->reextract_type->currentIndex() >1)
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
				   "cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for the re-extraction "
					   "of features on loop closure."));
		_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
	}

	if(_ui->doubleSpinBox_freenect2MinDepth->value() >= _ui->doubleSpinBox_freenect2MaxDepth->value())
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("Freenect2 minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.")
				   .arg(_ui->doubleSpinBox_freenect2MinDepth->value())
				   .arg(_ui->doubleSpinBox_freenect2MaxDepth->value())
				   .arg(_ui->doubleSpinBox_freenect2MaxDepth->value()+1));
		_ui->doubleSpinBox_freenect2MaxDepth->setValue(_ui->doubleSpinBox_freenect2MaxDepth->value()+1);
	}

	if(_ui->surf_doubleSpinBox_maxDepth->value() > 0.0 &&
	   _ui->surf_doubleSpinBox_minDepth->value() >= _ui->surf_doubleSpinBox_maxDepth->value())
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("Visual word minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.")
				   .arg(_ui->surf_doubleSpinBox_minDepth->value())
				   .arg(_ui->surf_doubleSpinBox_maxDepth->value())
				   .arg(_ui->surf_doubleSpinBox_maxDepth->value()+1));
		_ui->doubleSpinBox_freenect2MinDepth->setValue(0);
	}

	if(_ui->loopClosure_bowMaxDepth->value() > 0.0 &&
	   _ui->loopClosure_bowMinDepth->value() >= _ui->loopClosure_bowMaxDepth->value())
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("Visual registration word minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.")
				   .arg(_ui->loopClosure_bowMinDepth->value())
				   .arg(_ui->loopClosure_bowMaxDepth->value())
				   .arg(_ui->loopClosure_bowMaxDepth->value()+1));
		_ui->loopClosure_bowMinDepth->setValue(0);
	}

	if(_ui->fastThresholdMax->value() < _ui->fastThresholdMin->value())
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("FAST minimum threshold cannot be lower than maximum threshold. Setting minimum to 1."));
		_ui->fastThresholdMin->setValue(1);
	}
	if(_ui->fastThreshold->value() > _ui->fastThresholdMax->value())
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("FAST threshold cannot be higher than maximum threshold. Maximum value set to current threshold."));
		_ui->fastThresholdMax->setValue(_ui->fastThreshold->value());
	}
	if(_ui->fastThreshold->value() < _ui->fastThresholdMin->value())
	{
		QMessageBox::warning(this, tr("Parameter warning"),
				tr("FAST threshold cannot be lower than minimum threshold. Minimum value set to current threshold."));
		_ui->fastThresholdMin->setValue(_ui->fastThreshold->value());
	}

	return true;
}

QString PreferencesDialog::getParamMessage()
{
	return tr("Reading parameters from the configuration file...");
}

void PreferencesDialog::showEvent ( QShowEvent * event )
{
	if(_monitoringState)
	{
		// In monitoring state, you cannot change remote paths
		_ui->lineEdit_workingDirectory->setEnabled(false);
		_ui->toolButton_workingDirectory->setEnabled(false);
		_ui->label_workingDirectory->setEnabled(false);

		_ui->lineEdit_dictionaryPath->setEnabled(false);
		_ui->toolButton_dictionaryPath->setEnabled(false);
		_ui->label_dictionaryPath->setEnabled(false);

		_ui->groupBox_source0->setEnabled(false);
		_ui->groupBox_odometry2->setEnabled(false);

		this->setWindowTitle(tr("Preferences [Monitoring mode]"));
	}
	else
	{
		_ui->lineEdit_workingDirectory->setEnabled(true);
		_ui->toolButton_workingDirectory->setEnabled(true);
		_ui->label_workingDirectory->setEnabled(true);

		_ui->lineEdit_dictionaryPath->setEnabled(true);
		_ui->toolButton_dictionaryPath->setEnabled(true);
		_ui->label_dictionaryPath->setEnabled(true);

		_ui->groupBox_source0->setEnabled(true);
		_ui->groupBox_odometry2->setEnabled(true);

		this->setWindowTitle(tr("Preferences"));
	}
	this->readSettingsBegin();
}

void PreferencesDialog::readSettingsBegin()
{
	_progressDialog->setLabelText(this->getParamMessage());
	_progressDialog->show();

	// this will let the MainThread to display the progress dialog before reading the parameters...
	QTimer::singleShot(10, this, SLOT(readSettingsEnd()));
}

void PreferencesDialog::readSettingsEnd()
{
	QApplication::processEvents();

	this->readSettings(getTmpIniFilePath());

	_progressDialog->setValue(1);
	if(this->isVisible())
	{
		_progressDialog->setLabelText(tr("Setup dialog..."));

		this->updatePredictionPlot();
		this->setupKpRoiPanel();
	}

	_progressDialog->setValue(2); // this will make closing...
}

void PreferencesDialog::saveWindowGeometry(const QWidget * window)
{
	if(!window->objectName().isNull() && !window->isMaximized())
	{
		QSettings settings(getIniFilePath(), QSettings::IniFormat);
		settings.beginGroup("Gui");
		settings.beginGroup(window->objectName());
		settings.setValue("geometry", window->saveGeometry());
		settings.endGroup(); // "windowName"
		settings.endGroup(); // rtabmap
	}
}

void PreferencesDialog::loadWindowGeometry(QWidget * window)
{
	if(!window->objectName().isNull())
	{
		QByteArray bytes;
		QSettings settings(getIniFilePath(), QSettings::IniFormat);
		settings.beginGroup("Gui");
		settings.beginGroup(window->objectName());
		bytes = settings.value("geometry", QByteArray()).toByteArray();
		if(!bytes.isEmpty())
		{
			window->restoreGeometry(bytes);
		}
		settings.endGroup(); // "windowName"
		settings.endGroup(); // rtabmap
	}
}

void PreferencesDialog::saveMainWindowState(const QMainWindow * mainWindow)
{
	if(!mainWindow->objectName().isNull())
	{
		saveWindowGeometry(mainWindow);

		QSettings settings(getIniFilePath(), QSettings::IniFormat);
		settings.beginGroup("Gui");
		settings.beginGroup(mainWindow->objectName());
		settings.setValue("state", mainWindow->saveState());
		settings.setValue("maximized", mainWindow->isMaximized());
		settings.setValue("status_bar", mainWindow->statusBar()->isVisible());
		settings.endGroup(); // "MainWindow"
		settings.endGroup(); // rtabmap
	}
}

void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow,  bool & maximized, bool & statusBarShown)
{
	if(!mainWindow->objectName().isNull())
	{
		loadWindowGeometry(mainWindow);

		QByteArray bytes;
		QSettings settings(getIniFilePath(), QSettings::IniFormat);
		settings.beginGroup("Gui");
		settings.beginGroup(mainWindow->objectName());
		bytes = settings.value("state", QByteArray()).toByteArray();
		if(!bytes.isEmpty())
		{
			mainWindow->restoreState(bytes);
		}
		maximized = settings.value("maximized", false).toBool();
		statusBarShown = settings.value("status_bar", false).toBool();
		mainWindow->statusBar()->setVisible(statusBarShown);
		settings.endGroup(); // "MainWindow"
		settings.endGroup(); // rtabmap
	}
}

void PreferencesDialog::saveWidgetState(const QWidget * widget)
{
	if(!widget->objectName().isNull())
	{
		QSettings settings(getIniFilePath(), QSettings::IniFormat);
		settings.beginGroup("Gui");
		settings.beginGroup(widget->objectName());

		const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
		const ImageView * imageView = qobject_cast<const ImageView*>(widget);
		const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
		const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
		const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
		const CalibrationDialog * calibrationDialog = qobject_cast<const CalibrationDialog *>(widget);

		if(cloudViewer)
		{
			cloudViewer->saveSettings(settings);
		}
		else if(imageView)
		{
			imageView->saveSettings(settings);
		}
		else if(exportCloudsDialog)
		{
			exportCloudsDialog->saveSettings(settings);
		}
		else if(postProcessingDialog)
		{
			postProcessingDialog->saveSettings(settings);
		}
		else if(graphViewer)
		{
			graphViewer->saveSettings(settings);
		}
		else if(calibrationDialog)
		{
			calibrationDialog->saveSettings(settings);
		}
		else
		{
			UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
		}

		settings.endGroup(); // "name"
		settings.endGroup(); // Gui
	}
}

void PreferencesDialog::loadWidgetState(QWidget * widget)
{
	if(!widget->objectName().isNull())
	{
		QByteArray bytes;
		QSettings settings(getIniFilePath(), QSettings::IniFormat);
		settings.beginGroup("Gui");
		settings.beginGroup(widget->objectName());

		CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
		ImageView * imageView = qobject_cast<ImageView*>(widget);
		ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
		PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
		GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
		CalibrationDialog * calibrationDialog = qobject_cast<CalibrationDialog *>(widget);

		if(cloudViewer)
		{
			cloudViewer->loadSettings(settings);
		}
		else if(imageView)
		{
			imageView->loadSettings(settings);
		}
		else if(exportCloudsDialog)
		{
			exportCloudsDialog->loadSettings(settings);
		}
		else if(postProcessingDialog)
		{
			postProcessingDialog->loadSettings(settings);
		}
		else if(graphViewer)
		{
			graphViewer->loadSettings(settings);
		}
		else if(calibrationDialog)
		{
			calibrationDialog->loadSettings(settings);
		}
		else
		{
			UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str());
		}

		settings.endGroup(); //"name"
		settings.endGroup(); // Gui
	}
}


void PreferencesDialog::saveCustomConfig(const QString & section, const QString & key, const QString & value)
{
	QSettings settings(getIniFilePath(), QSettings::IniFormat);
	settings.beginGroup("Gui");
	settings.beginGroup(section);
	settings.setValue(key, value);
	settings.endGroup(); // "section"
	settings.endGroup(); // rtabmap
}

QString PreferencesDialog::loadCustomConfig(const QString & section, const QString & key)
{
	QString value;
	QSettings settings(getIniFilePath(), QSettings::IniFormat);
	settings.beginGroup("Gui");
	settings.beginGroup(section);
	value = settings.value(key, QString()).toString();
	settings.endGroup(); // "section"
	settings.endGroup(); // rtabmap
	return value;
}


void PreferencesDialog::selectSourceDriver(Src src)
{
	if(src >= kSrcRGBD && src<kSrcStereo)
	{
		_ui->comboBox_sourceType->setCurrentIndex(0);
		_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGBD);
		if(src == kSrcOpenNI_PCL)
		{
			_ui->lineEdit_openniOniPath->clear();
		}
		else if(src == kSrcOpenNI2)
		{
			_ui->lineEdit_openni2OniPath->clear();
		}
	}
	else if(src >= kSrcStereo && src<kSrcRGB)
	{
		_ui->comboBox_sourceType->setCurrentIndex(1);
		_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcStereo);
	}
	else if(src >= kSrcRGB && src<kSrcDatabase)
	{
		_ui->comboBox_sourceType->setCurrentIndex(2);
		_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGB);
	}
	else if(src >= kSrcDatabase)
	{
		_ui->comboBox_sourceType->setCurrentIndex(3);
		_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcDatabase);
	}

	if(validateForm())
	{
		// Even if there is no change, MainWindow should be notified
		makeObsoleteSourcePanel();

		this->writeSettings(getTmpIniFilePath());
	}
	else
	{
		this->readSettingsBegin();
	}
}

void PreferencesDialog::selectSourceDatabase()
{
	QString dir = _ui->source_database_lineEdit_path->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QStringList paths = QFileDialog::getOpenFileNames(this, tr("Select file"), dir, tr("RTAB-Map database files (*.db)"));
	if(paths.size())
	{
		int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);

		_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
		_ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";"));
		_ui->source_spinBox_databaseStartPos->setValue(0);
		_ui->source_checkBox_useDbStamps->setChecked(true);
	}
}

void PreferencesDialog::openDatabaseViewer()
{
	DatabaseViewer * viewer = new DatabaseViewer(this);
	viewer->setWindowModality(Qt::WindowModal);
	viewer->setAttribute(Qt::WA_DeleteOnClose, true);
	viewer->showCloseButton();
	if(viewer->openDatabase(_ui->source_database_lineEdit_path->text()))
	{
		viewer->show();
	}
	else
	{
		delete viewer;
	}
}

void PreferencesDialog::selectCalibrationPath()
{
	QString dir = _ui->lineEdit_calibrationFile->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory()+"/camera_info";
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml)"));
	if(path.size())
	{
		_ui->lineEdit_calibrationFile->setText(path);
	}
}

void PreferencesDialog::selectSourceRGBDImagesStamps()
{
	QString dir = _ui->lineEdit_cameraRGBDImages_timestamps->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Timestamps file (*.txt)"));
	if(path.size())
	{
		_ui->lineEdit_cameraRGBDImages_timestamps->setText(path);
	}
}

void PreferencesDialog::selectSourceRGBDImagesPathRGB()
{
	QString dir = _ui->lineEdit_cameraRGBDImages_path_rgb->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getExistingDirectory(this, tr("Select RGB images directory"), dir);
	if(path.size())
	{
		_ui->lineEdit_cameraRGBDImages_path_rgb->setText(path);
	}
}

void PreferencesDialog::selectSourceRGBDImagesPathDepth()
{
	QString dir = _ui->lineEdit_cameraRGBDImages_path_depth->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getExistingDirectory(this, tr("Select depth images directory"), dir);
	if(path.size())
	{
		_ui->lineEdit_cameraRGBDImages_path_depth->setText(path);
	}
}

void PreferencesDialog::selectSourceStereoImagesStamps()
{
	QString dir = _ui->lineEdit_cameraStereoImages_timestamps->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Timestamps file (*.txt)"));
	if(path.size())
	{
		_ui->lineEdit_cameraStereoImages_timestamps->setText(path);
	}
}

void PreferencesDialog::selectSourceStereoImagesPathLeft()
{
	QString dir = _ui->lineEdit_cameraStereoImages_path_left->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getExistingDirectory(this, tr("Select left images directory"), dir);
	if(path.size())
	{
		_ui->lineEdit_cameraStereoImages_path_left->setText(path);
	}
}

void PreferencesDialog::selectSourceStereoImagesPathRight()
{
	QString dir = _ui->lineEdit_cameraStereoImages_path_right->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getExistingDirectory(this, tr("Select right images directory"), dir);
	if(path.size())
	{
		_ui->lineEdit_cameraStereoImages_path_right->setText(path);
	}
}

void PreferencesDialog::selectSourceStereoImagesPathScans()
{
	QString dir = _ui->lineEdit_cameraStereoImages_path_scans->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getExistingDirectory(this, tr("Select scans directory"), dir);
	if(path.size())
	{
		_ui->lineEdit_cameraStereoImages_path_scans->setText(path);
	}
}

void PreferencesDialog::selectSourceImagesPath()
{
	QString dir = _ui->source_images_lineEdit_path->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getExistingDirectory(this, tr("Select images directory"), _ui->source_images_lineEdit_path->text());
	if(!path.isEmpty())
	{
		_ui->source_images_lineEdit_path->setText(path);
		_ui->source_images_spinBox_startPos->setValue(1);
	}
}

void PreferencesDialog::selectSourceVideoPath()
{
	QString dir = _ui->source_video_lineEdit_path->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->source_video_lineEdit_path->text(), tr("Videos (*.avi *.mpg *.mp4)"));
	if(!path.isEmpty())
	{
		_ui->source_video_lineEdit_path->setText(path);
	}
}

void PreferencesDialog::selectSourceStereoVideoPath()
{
	QString dir = _ui->lineEdit_cameraStereoVideo_path->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_cameraStereoVideo_path->text(), tr("Videos (*.avi *.mpg *.mp4)"));
	if(!path.isEmpty())
	{
		_ui->lineEdit_cameraStereoVideo_path->setText(path);
	}
}

void PreferencesDialog::selectSourceOniPath()
{
	QString dir = _ui->lineEdit_openniOniPath->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_openniOniPath->text(), tr("OpenNI (*.oni)"));
	if(!path.isEmpty())
	{
		_ui->lineEdit_openniOniPath->setText(path);
	}
}

void PreferencesDialog::selectSourceOni2Path()
{
	QString dir = _ui->lineEdit_openni2OniPath->text();
	if(dir.isEmpty())
	{
		dir = getWorkingDirectory();
	}
	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_openni2OniPath->text(), tr("OpenNI (*.oni)"));
	if(!path.isEmpty())
	{
		_ui->lineEdit_openni2OniPath->setText(path);
	}
}

void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
{
	UDEBUG("%s=%s", key.c_str(), value.c_str());
	QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
	if(obj)
	{
		QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
		QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
		QComboBox * combo = qobject_cast<QComboBox *>(obj);
		QCheckBox * check = qobject_cast<QCheckBox *>(obj);
		QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
		QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
		QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
		bool ok;
		if(spin)
		{
			spin->setValue(QString(value.c_str()).toInt(&ok));
			if(!ok)
			{
				UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
			}
		}
		else if(doubleSpin)
		{
			doubleSpin->setValue(QString(value.c_str()).toDouble(&ok));
			if(!ok)
			{
				UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
			}
		}
		else if(combo)
		{
			int valueInt = QString(value.c_str()).toInt(&ok);
			if(!ok)
			{
				UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
			}
			else
			{
				if(RTABMAP_NONFREE == 0)
				{
					if(valueInt <= 1 &&
							(combo->objectName().toStdString().compare(Parameters::kKpDetectorStrategy()) == 0 ||
							 combo->objectName().toStdString().compare(Parameters::kVisFeatureType()) == 0))
					{
						UWARN("Trying to set \"%s\" to SIFT/SURF but RTAB-Map isn't built "
							  "with the nonfree module from OpenCV. Keeping default combo value: %s.",
							  combo->objectName().toStdString().c_str(),
							  combo->currentText().toStdString().c_str());
						ok = false;
					}
					else if(valueInt==1 &&
							(combo->objectName().toStdString().compare(Parameters::kKpNNStrategy()) == 0 ||
							 combo->objectName().toStdString().compare(Parameters::kVisNNType()) == 0))

					{
						UWARN("Trying to set \"%s\" to KdTree but RTAB-Map isn't built "
							  "with the nonfree module from OpenCV and kdTree cannot be used "
							  "with binary descriptors. Keeping default combo value: %s.",
							  combo->objectName().toStdString().c_str(),
							  combo->currentText().toStdString().c_str());
						ok = false;
					}
				}
				if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
				{
					if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
					{
						UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
							  "with g2o. Keeping default combo value: %s.",
							  combo->objectName().toStdString().c_str(),
							  combo->currentText().toStdString().c_str());
						ok = false;
					}
				}
				if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
				{
					if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
					{
						UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
							  "with GTSAM. Keeping default combo value: %s.",
							  combo->objectName().toStdString().c_str(),
							  combo->currentText().toStdString().c_str());
						ok = false;
					}
				}
				if(ok)
				{
					combo->setCurrentIndex(valueInt);
				}
			}

		}
		else if(check)
		{
			check->setChecked(uStr2Bool(value.c_str()));
		}
		else if(radio)
		{
			radio->setChecked(uStr2Bool(value.c_str()));
		}
		else if(lineEdit)
		{
			lineEdit->setText(value.c_str());
		}
		else if(groupBox)
		{
			groupBox->setChecked(uStr2Bool(value.c_str()));
		}
		else
		{
			ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
		}
	}
	else
	{
		ULOGGER_WARN("Can't find the related QObject for parameter %s", key.c_str());
	}
}

void PreferencesDialog::addParameter(int value)
{
	if(sender())
	{
		this->addParameter(sender(), value);
	}
	else
	{
		ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call...");
	}
}

void PreferencesDialog::addParameter(bool value)
{
	if(sender())
	{
		this->addParameter(sender(), value);
	}
	else
	{
		ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call...");
	}
}

void PreferencesDialog::addParameter(double value)
{
	if(sender())
	{
		this->addParameter(sender(), value);
	}
	else
	{
		ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call...");
	}
}

void PreferencesDialog::addParameter(const QString & value)
{
	if(sender())
	{
		this->addParameter(sender(), value);
	}
	else
	{
		ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call...");
	}
}

void PreferencesDialog::addParameter(const QObject * object, int value)
{
	if(object)
	{
		// Make sure the value is inserted, check if the same key already exists
		rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
		if(iter != _parameters.end())
		{
			_parameters.erase(iter);
		}

		const QComboBox * comboBox = qobject_cast<const QComboBox*>(object);
		const QSpinBox * spinbox = qobject_cast<const QSpinBox*>(object);
		if(comboBox || spinbox)
		{
			if(comboBox)
			{
				// Add related panels to parameters
				if(comboBox == _ui->comboBox_vh_strategy)
				{
					if(value == 0) // 0 none
					{
						// No panel related...
					}
					else if(value == 1) // 2 epipolar
					{
						this->addParameters(_ui->groupBox_vh_epipolar2);
					}
				}
				else if(comboBox == _ui->comboBox_detector_strategy ||
						comboBox == _ui->reextract_type)
				{
					if(value == 0) //  surf
					{
						this->addParameters(_ui->groupBox_detector_surf2);
					}
					else if(value == 1) //  sift
					{
						this->addParameters(_ui->groupBox_detector_sift2);
					}
					else if(value == 2) //  orb
					{
						this->addParameters(_ui->groupBox_detector_orb2);
					}
					else if(value == 3) //  fast+freak
					{
						this->addParameters(_ui->groupBox_detector_fast2);
						this->addParameters(_ui->groupBox_detector_freak2);
					}
					else if(value == 4) //  fast+brief
					{
						this->addParameters(_ui->groupBox_detector_fast2);
						this->addParameters(_ui->groupBox_detector_brief2);
					}
					else if(value == 5) //  gftt+freak
					{
						this->addParameters(_ui->groupBox_detector_gftt2);
						this->addParameters(_ui->groupBox_detector_freak2);
					}
					else if(value == 6) //  gftt+brief
					{
						this->addParameters(_ui->groupBox_detector_gftt2);
						this->addParameters(_ui->groupBox_detector_brief2);
					}
					else if(value == 7) //  brisk
					{
						this->addParameters(_ui->groupBox_detector_brisk2);
					}
				}
				else if(comboBox == _ui->loopClosure_estimationType)
				{
					this->addParameters(_ui->stackedWidget_loopClosureEstimation, _ui->loopClosure_estimationType->currentIndex());
				}
				else if(comboBox == _ui->graphOptimization_type)
				{
					this->addParameter(_ui->graphOptimization_iterations,        _ui->graphOptimization_iterations->value());
					this->addParameter(_ui->graphOptimization_covarianceIgnored, _ui->graphOptimization_covarianceIgnored->isChecked());
					this->addParameter(_ui->graphOptimization_slam2d,            _ui->graphOptimization_slam2d->isChecked());
					this->addParameter(_ui->graphOptimization_stopEpsilon,       _ui->graphOptimization_stopEpsilon->value());
					this->addParameter(_ui->graphOptimization_robust,            _ui->graphOptimization_robust->isChecked());
				}
			}
			// Add parameter
			_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
		}
		else
		{
			UWARN("Undefined object \"%s\"", object->objectName().toStdString().c_str());
		}

	}
	else
	{
		ULOGGER_ERROR("Object is null");
	}
}

void PreferencesDialog::addParameter(const QObject * object, bool value)
{
	if(object)
	{
		// Make sure the value is inserted, check if the same key already exists
		rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
		if(iter != _parameters.end())
		{
			_parameters.erase(iter);
		}

		const QCheckBox * checkbox = qobject_cast<const QCheckBox*>(object);
		const QRadioButton * radio = qobject_cast<const QRadioButton*>(object);
		const QGroupBox * groupBox = qobject_cast<const QGroupBox*>(object);
		if(checkbox || radio || groupBox)
		{
			// Add parameter
			_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));

			// RGBD panel
			if(value && checkbox == _ui->general_checkBox_activateRGBD)
			{
				// add all RGBD parameters!
				this->addParameters(_ui->groupBox_slam_update);
				this->addParameters(_ui->groupBox_graphOptimization);
				this->addParameters(_ui->groupBox_localDetection_time);
				this->addParameters(_ui->groupBox_localDetection_space);
				this->addParameters(_ui->groupBox_visualTransform2);
				this->addParameters(_ui->groupBox_icp2);
			}
			else if(value && checkbox == _ui->loopClosure_icp)
			{
				this->addParameters(_ui->groupBox_icp2);
			}

			if(groupBox)
			{
				// RGBD panel
				if(value && groupBox == _ui->groupBox_localDetection_time)
				{
					this->addParameters(_ui->groupBox_visualTransform2);
				}
				if(value && groupBox == _ui->groupBox_localDetection_space)
				{
					this->addParameters(_ui->groupBox_icp2);
				}

				this->addParameters(groupBox);
			}
		}
		else
		{
			UWARN("Undefined object \"%s\"", object->objectName().toStdString().c_str());
		}

	}
	else
	{
		ULOGGER_ERROR("Object is null");
	}
}

void PreferencesDialog::addParameter(const QObject * object, double value)
{
	if(object)
	{
		// Make sure the value is inserted, check if the same key already exists
		rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
		if(iter != _parameters.end())
		{
			_parameters.erase(iter);
		}
		_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
		//ULOGGER_DEBUG("PreferencesDialog::addParameter(object, double) Added [\"%s\",\"%s\"]", object->objectName().toStdString().c_str(), QString::number(value).toStdString().c_str());
	}
	else
	{
		ULOGGER_ERROR("Object is null");
	}
}

void PreferencesDialog::addParameter(const QObject * object, const QString & value)
{
	if(object)
	{
		// Make sure the value is inserted, check if the same key already exists
		rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
		if(iter != _parameters.end())
		{
			_parameters.erase(iter);
		}
		_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), value.toStdString()));
		//ULOGGER_DEBUG("PreferencesDialog::addParameter(object, QString) Added [\"%s\",\"%s\"]", object->objectName().toStdString().c_str(), QString::number(value).toStdString().c_str());
	}
	else
	{
		ULOGGER_ERROR("Object is null");
	}
}

void PreferencesDialog::addParameters(const QObjectList & children)
{
	//ULOGGER_DEBUG("PreferencesDialog::addParameters(QGroupBox) box %s has %d children", box->objectName().toStdString().c_str(), children.size());
	for(int i=0; i<children.size(); ++i)
	{
		const QSpinBox * spin = qobject_cast<const QSpinBox *>(children[i]);
		const QDoubleSpinBox * doubleSpin = qobject_cast<const QDoubleSpinBox *>(children[i]);
		const QComboBox * combo = qobject_cast<const QComboBox *>(children[i]);
		const QCheckBox * check = qobject_cast<const QCheckBox *>(children[i]);
		const QRadioButton * radio = qobject_cast<const QRadioButton *>(children[i]);
		const QLineEdit * lineEdit = qobject_cast<const QLineEdit *>(children[i]);
		const QGroupBox * groupBox = qobject_cast<const QGroupBox *>(children[i]);
		const QStackedWidget * stackedWidget = qobject_cast<const QStackedWidget *>(children[i]);
		if(spin)
		{
			this->addParameter(spin, spin->value());
		}
		else if(doubleSpin)
		{
			this->addParameter(doubleSpin, doubleSpin->value());
		}
		else if(combo)
		{
			this->addParameter(combo, combo->currentIndex());
		}
		else if(check)
		{
			this->addParameter(check, check->isChecked());
		}
		else if(radio)
		{
			this->addParameter(radio, radio->isChecked());
		}
		else if(lineEdit)
		{
			this->addParameter(lineEdit, lineEdit->text());
		}
		else if(groupBox)
		{
			if(groupBox->isCheckable())
			{
				this->addParameter(groupBox, groupBox->isChecked());
			}
			else
			{
				this->addParameters(groupBox);
			}
		}
		else if(stackedWidget)
		{
			this->addParameters(stackedWidget);
		}
	}
}

void PreferencesDialog::addParameters(const QStackedWidget * stackedWidget, int panel)
{
	if(stackedWidget)
	{
		if(panel == -1)
		{
			for(int i=0; i<stackedWidget->count(); ++i)
			{
				const QObjectList & children = stackedWidget->widget(i)->children();
				addParameters(children);
			}
		}
		else
		{
			UASSERT(panel<stackedWidget->count());
			const QObjectList & children = stackedWidget->widget(panel)->children();
			addParameters(children);
		}
	}
}

void PreferencesDialog::addParameters(const QGroupBox * box)
{
	if(box)
	{
		const QObjectList & children = box->children();
		addParameters(children);
	}
}

void PreferencesDialog::updateBasicParameter()
{
	// This method is used to update basic/advanced referred parameters, see above editingFinished()

	// basic to advanced (advanced to basic must be done by connecting signal valueChanged())
	if(sender() == _ui->general_doubleSpinBox_timeThr_2)
	{
		_ui->general_doubleSpinBox_timeThr->setValue(_ui->general_doubleSpinBox_timeThr_2->value());
	}
	else if(sender() == _ui->general_doubleSpinBox_hardThr_2)
	{
		_ui->general_doubleSpinBox_hardThr->setValue(_ui->general_doubleSpinBox_hardThr_2->value());
	}
	else if(sender() == _ui->general_doubleSpinBox_detectionRate_2)
	{
		_ui->general_doubleSpinBox_detectionRate->setValue(_ui->general_doubleSpinBox_detectionRate_2->value());
	}
	else if(sender() == _ui->general_spinBox_imagesBufferSize_2)
	{
		_ui->general_spinBox_imagesBufferSize->setValue(_ui->general_spinBox_imagesBufferSize_2->value());
	}
	else if(sender() == _ui->general_spinBox_maxStMemSize_2)
	{
		_ui->general_spinBox_maxStMemSize->setValue(_ui->general_spinBox_maxStMemSize_2->value());
	}
	else if(sender() == _ui->groupBox_publishing)
	{
		_ui->general_checkBox_publishStats_2->setChecked(_ui->groupBox_publishing->isChecked());
	}
	else if(sender() == _ui->general_checkBox_publishStats_2)
	{
		_ui->groupBox_publishing->setChecked(_ui->general_checkBox_publishStats_2->isChecked());
	}
	else if(sender() == _ui->doubleSpinBox_similarityThreshold_2)
	{
		_ui->doubleSpinBox_similarityThreshold->setValue(_ui->doubleSpinBox_similarityThreshold_2->value());
	}
	else if(sender() == _ui->general_checkBox_activateRGBD)
	{
		_ui->general_checkBox_activateRGBD_2->setChecked(_ui->general_checkBox_activateRGBD->isChecked());
	}
	else if(sender() == _ui->general_checkBox_activateRGBD_2)
	{
		_ui->general_checkBox_activateRGBD->setChecked(_ui->general_checkBox_activateRGBD_2->isChecked());
	}
	else if(sender() == _ui->general_checkBox_SLAM_mode)
	{
		_ui->general_checkBox_SLAM_mode_2->setChecked(_ui->general_checkBox_SLAM_mode->isChecked());
	}
	else if(sender() == _ui->general_checkBox_SLAM_mode_2)
	{
		_ui->general_checkBox_SLAM_mode->setChecked(_ui->general_checkBox_SLAM_mode_2->isChecked());
	}
	else
	{
		//update all values (only those using editingFinished signal)
		_ui->general_doubleSpinBox_timeThr->setValue(_ui->general_doubleSpinBox_timeThr_2->value());
		_ui->general_doubleSpinBox_hardThr->setValue(_ui->general_doubleSpinBox_hardThr_2->value());
		_ui->general_doubleSpinBox_detectionRate->setValue(_ui->general_doubleSpinBox_detectionRate_2->value());
		_ui->general_spinBox_imagesBufferSize->setValue(_ui->general_spinBox_imagesBufferSize_2->value());
		_ui->general_spinBox_maxStMemSize->setValue(_ui->general_spinBox_maxStMemSize_2->value());
		_ui->doubleSpinBox_similarityThreshold->setValue(_ui->doubleSpinBox_similarityThreshold_2->value());
	}
}

void PreferencesDialog::makeObsoleteGeneralPanel()
{
	ULOGGER_DEBUG("");
	_obsoletePanels = _obsoletePanels | kPanelGeneral;
}

void PreferencesDialog::makeObsoleteCloudRenderingPanel()
{
	ULOGGER_DEBUG("");
	_obsoletePanels = _obsoletePanels | kPanelCloudRendering;
}

void PreferencesDialog::makeObsoleteLoggingPanel()
{
	ULOGGER_DEBUG("");
	_obsoletePanels = _obsoletePanels | kPanelLogging;
}

void PreferencesDialog::makeObsoleteSourcePanel()
{
	_obsoletePanels = _obsoletePanels | kPanelSource;
}

rtabmap::ParametersMap PreferencesDialog::getAllParameters()
{
	rtabmap::ParametersMap result;
	rtabmap::ParametersMap tmpParameters = _parameters;
	_parameters.clear();

	QList<QGroupBox*> boxes = this->getGroupBoxes();
	for(int i=0; i<boxes.size(); ++i)
	{
		this->addParameters(boxes.at(i));
	}

	result = _parameters;
	_parameters = tmpParameters;
	return result;
}

QList<QGroupBox*> PreferencesDialog::getGroupBoxes()
{
	QList<QGroupBox*> boxes;
	for(int i=0; i<_ui->stackedWidget->count(); ++i)
	{
		QGroupBox * gb = 0;
		const QObjectList & children = _ui->stackedWidget->widget(i)->children();
		for(int j=0; j<children.size(); ++j)
		{
			if((gb = qobject_cast<QGroupBox *>(children.at(j))))
			{
				//ULOGGER_DEBUG("PreferencesDialog::setupTreeView() index(%d) Added %s, box name=%s", i, gb->title().toStdString().c_str(), gb->objectName().toStdString().c_str());
				break;
			}
		}
		if(gb)
		{
			boxes.append(gb);
		}
		else
		{
			ULOGGER_ERROR("A QGroupBox must be included in the first level of children in stacked widget, index=%d", i);
		}
	}
	return boxes;
}

void PreferencesDialog::updatePredictionPlot()
{
	QStringList values = _ui->lineEdit_bayes_predictionLC->text().simplified().split(' ');
	if(values.size() < 2)
	{
		UERROR("Error parsing prediction (must have at least 2 items) : %s",
				_ui->lineEdit_bayes_predictionLC->text().toStdString().c_str());
		return;
	}
	QVector<float> dataX((values.size()-2)*2 + 1);
	QVector<float> dataY((values.size()-2)*2 + 1);
	double value;
	double sum = 0;
	int lvl = 1;
	bool ok = false;
	bool error = false;
	int loopClosureIndex = (dataX.size()-1)/2;
	for(int i=0; i<values.size(); ++i)
	{
		value = values.at(i).toDouble(&ok);
		if(!ok)
		{
			UERROR("Error parsing prediction : \"%s\"", values.at(i).toStdString().c_str());
			error = true;
		}
		sum+=value;
		if(i==0)
		{
			//do nothing
		}
		else if(i == 1)
		{
			dataY[loopClosureIndex] = value;
			dataX[loopClosureIndex] = 0;
		}
		else
		{
			dataY[loopClosureIndex-lvl] = value;
			dataX[loopClosureIndex-lvl] = -lvl;
			dataY[loopClosureIndex+lvl] = value;
			dataX[loopClosureIndex+lvl] = lvl;
			++lvl;
		}
	}

	_ui->label_prediction_sum->setNum(sum);
	if(error)
	{
		_ui->label_prediction_sum->setText(QString("<font color=#FF0000>") + _ui->label_prediction_sum->text() + "</font>");
	}
	else if(sum == 1.0)
	{
		_ui->label_prediction_sum->setText(QString("<font color=#00FF00>") + _ui->label_prediction_sum->text() + "</font>");
	}
	else if(sum > 1.0)
	{
		_ui->label_prediction_sum->setText(QString("<font color=#FFa500>") + _ui->label_prediction_sum->text() + "</font>");
	}
	else
	{
		_ui->label_prediction_sum->setText(QString("<font color=#000000>") + _ui->label_prediction_sum->text() + "</font>");
	}

	_ui->predictionPlot->removeCurves();
	_ui->predictionPlot->addCurve(new UPlotCurve("Prediction", dataX, dataY, _ui->predictionPlot));
}

void PreferencesDialog::setupKpRoiPanel()
{
	QStringList strings = _ui->lineEdit_kp_roi->text().split(' ');
	if(strings.size()!=4)
	{
		UERROR("ROI must have 4 values (%s)", _ui->lineEdit_kp_roi->text().toStdString().c_str());
		return;
	}
	_ui->doubleSpinBox_kp_roi0->setValue(strings[0].toDouble()*100.0);
	_ui->doubleSpinBox_kp_roi1->setValue(strings[1].toDouble()*100.0);
	_ui->doubleSpinBox_kp_roi2->setValue(strings[2].toDouble()*100.0);
	_ui->doubleSpinBox_kp_roi3->setValue(strings[3].toDouble()*100.0);
}

void PreferencesDialog::updateKpROI()
{
	QStringList strings;
	strings.append(QString::number(_ui->doubleSpinBox_kp_roi0->value()/100.0));
	strings.append(QString::number(_ui->doubleSpinBox_kp_roi1->value()/100.0));
	strings.append(QString::number(_ui->doubleSpinBox_kp_roi2->value()/100.0));
	strings.append(QString::number(_ui->doubleSpinBox_kp_roi3->value()/100.0));
	_ui->lineEdit_kp_roi->setText(strings.join(" "));
}

void PreferencesDialog::changeWorkingDirectory()
{
	QString directory = QFileDialog::getExistingDirectory(this, tr("Working directory"), _ui->lineEdit_workingDirectory->text());
	if(!directory.isEmpty())
	{
		ULOGGER_DEBUG("New working directory = %s", directory.toStdString().c_str());
		_ui->lineEdit_workingDirectory->setText(directory);
	}
}

void PreferencesDialog::changeDictionaryPath()
{
	QString path;
	if(_ui->lineEdit_dictionaryPath->text().isEmpty())
	{
		path = QFileDialog::getOpenFileName(this, tr("Dictionary"), this->getWorkingDirectory());
	}
	else
	{
		path = QFileDialog::getOpenFileName(this, tr("Dictionary"), _ui->lineEdit_dictionaryPath->text());
	}
	if(!path.isEmpty())
	{
		_ui->lineEdit_dictionaryPath->setText(path);
	}
}

void PreferencesDialog::changeOdomBowFixedLocalMapPath()
{
	QString path;
	if(_ui->odom_fixedLocalMapPath->text().isEmpty())
	{
		path = QFileDialog::getOpenFileName(this, tr("Database"), this->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
	}
	else
	{
		path = QFileDialog::getOpenFileName(this, tr("Database"), _ui->odom_fixedLocalMapPath->text(), tr("RTAB-Map database files (*.db)"));
	}
	if(!path.isEmpty())
	{
		_ui->odom_fixedLocalMapPath->setText(path);
	}
}

void PreferencesDialog::updateSourceGrpVisibility()
{
	_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);
	_ui->groupBox_sourceStereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1);
	_ui->groupBox_sourceRGB->setVisible(_ui->comboBox_sourceType->currentIndex() == 2);
	_ui->groupBox_sourceDatabase->setVisible(_ui->comboBox_sourceType->currentIndex() == 3);
}

void PreferencesDialog::updateRGBDCameraGroupBoxVisibility()
{
	_ui->groupBox_openni2->setVisible(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcOpenNI_PCL);
	_ui->groupBox_freenect2->setVisible(_ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcOpenNI_PCL);
}

void PreferencesDialog::updateRGBCameraGroupBoxVisibility()
{
	_ui->source_groupBox_images->setVisible(_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcUsbDevice);
	_ui->source_groupBox_video->setVisible(_ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcUsbDevice);
}

void PreferencesDialog::updateStereoCameraGroupBoxVisibility()
{
	_ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcDC1394);
}

/*** GETTERS ***/
//General
int PreferencesDialog::getGeneralLoggerLevel() const
{
	return _ui->comboBox_loggerLevel->currentIndex();
}
int PreferencesDialog::getGeneralLoggerEventLevel() const
{
	return _ui->comboBox_loggerEventLevel->currentIndex();
}
int PreferencesDialog::getGeneralLoggerPauseLevel() const
{
	return _ui->comboBox_loggerPauseLevel->currentIndex();
}
int PreferencesDialog::getGeneralLoggerType() const
{
	return _ui->comboBox_loggerType->currentIndex();
}
bool PreferencesDialog::getGeneralLoggerPrintTime() const
{
	return _ui->checkBox_logger_printTime->isChecked();
}
bool PreferencesDialog::isVerticalLayoutUsed() const
{
	return _ui->checkBox_verticalLayoutUsed->isChecked();
}
bool PreferencesDialog::imageRejectedShown() const
{
	return _ui->checkBox_imageRejectedShown->isChecked();
}
bool PreferencesDialog::imageHighestHypShown() const
{
	return _ui->checkBox_imageHighestHypShown->isChecked();
}
bool PreferencesDialog::beepOnPause() const
{
	return _ui->checkBox_beep->isChecked();
}
bool PreferencesDialog::notifyWhenNewGlobalPathIsReceived() const
{
	return _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked();
}
int PreferencesDialog::getOdomQualityWarnThr() const
{
	return _ui->spinBox_odomQualityWarnThr->value();
}
bool PreferencesDialog::isPosteriorGraphView() const
{
	return _ui->checkBox_posteriorGraphView->isChecked();
}

bool PreferencesDialog::isCloudsShown(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingShowClouds[index]->isChecked();
}
bool PreferencesDialog::isGraphsShown() const
{
	return _ui->checkBox_showGraphs->isChecked();
}
bool PreferencesDialog::isLabelsShown() const
{
	return _ui->checkBox_showLabels->isChecked();
}
bool PreferencesDialog::isCloudMeshing() const
{
	return _ui->checkBox_meshing->isChecked();
}
double PreferencesDialog::getCloudVoxelSize(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingVoxelSize[index]->value();
}
int PreferencesDialog::getCloudDecimation(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingDecimation[index]->value();
}
double PreferencesDialog::getCloudMaxDepth(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingMaxDepth[index]->value();
}
double PreferencesDialog::getCloudOpacity(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingOpacity[index]->value();
}
int PreferencesDialog::getCloudPointSize(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingPtSize[index]->value();
}

bool PreferencesDialog::isScansShown(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingShowScans[index]->isChecked();
}
int PreferencesDialog::getDownsamplingStepScan(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingDownsamplingScan[index]->value();
}
double PreferencesDialog::getCloudVoxelSizeScan(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingVoxelSizeScan[index]->value();
}
double PreferencesDialog::getScanOpacity(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingOpacityScan[index]->value();
}
int PreferencesDialog::getScanPointSize(int index) const
{
	UASSERT(index >= 0 && index <= 1);
	return _3dRenderingPtSizeScan[index]->value();
}
int PreferencesDialog::getMeshNormalKSearch() const
{
	return _ui->spinBox_normalKSearch->value();
}
double PreferencesDialog::getMeshGP3Radius() const
{
	return _ui->doubleSpinBox_gp3Radius->value();
}
double PreferencesDialog::getMeshGP3Mu() const
{
	return _ui->doubleSpinBox_gp3Mu->value();
}
bool PreferencesDialog::getMeshSmoothing() const
{
	return _ui->checkBox_mls->isChecked();
}
double PreferencesDialog::getMeshSmoothingRadius() const
{
	return _ui->doubleSpinBox_mlsRadius->value();
}
bool PreferencesDialog::isCloudFiltering() const
{
	return _ui->checkBox_nodeFiltering->isChecked();
}
bool PreferencesDialog::isSubtractFiltering() const
{
	return _ui->checkBox_subtractFiltering->isChecked();
}
double PreferencesDialog::getCloudFilteringRadius() const
{
	return _ui->doubleSpinBox_cloudFilterRadius->value();
}
double PreferencesDialog::getCloudFilteringAngle() const
{
	return _ui->doubleSpinBox_cloudFilterAngle->value();
}
int PreferencesDialog::getSubstractFilteringMinPts() const
{
	return _ui->spinBox_substractFilteringMinPts->value();
}
bool PreferencesDialog::getGridMapShown() const
{
	return _ui->checkBox_map_shown->isChecked();
}
double PreferencesDialog::getGridMapResolution() const
{
	return _ui->doubleSpinBox_map_resolution->value();
}
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
	return _ui->checkBox_map_occupancyFrom3DCloud->isChecked();
}
bool PreferencesDialog::isGridMapEroded() const
{
	return _ui->checkBox_map_erode->isChecked();
}
double PreferencesDialog::getGridMapOpacity() const
{
	return _ui->doubleSpinBox_map_opacity->value();
}


// Source
double PreferencesDialog::getGeneralInputRate() const
{
	return _ui->general_doubleSpinBox_imgRate->value();
}
bool PreferencesDialog::isSourceMirroring() const
{
	return _ui->source_mirroring->isChecked();
}
PreferencesDialog::Src PreferencesDialog::getSourceType() const
{
	int index = _ui->comboBox_sourceType->currentIndex();
	if(index == 0)
	{
		return kSrcRGBD;
	}
	else if(index == 1)
	{
		return kSrcStereo;
	}
	else if(index == 2)
	{
		return kSrcRGB;
	}
	else if(index == 3)
	{
		return kSrcDatabase;
	}
	return kSrcUndef;
}
PreferencesDialog::Src PreferencesDialog::getSourceDriver() const
{
	PreferencesDialog::Src type = getSourceType();
	if(type==kSrcRGBD)
	{
		return (PreferencesDialog::Src)(_ui->comboBox_cameraRGBD->currentIndex()+kSrcRGBD);
	}
	else if(type==kSrcStereo)
	{
		return (PreferencesDialog::Src)(_ui->comboBox_cameraStereo->currentIndex()+kSrcStereo);
	}
	else if(type==kSrcRGB)
	{
		return (PreferencesDialog::Src)(_ui->source_comboBox_image_type->currentIndex()+kSrcRGB);
	}
	else if(type==kSrcDatabase)
	{
		return kSrcDatabase;
	}
	return kSrcUndef;
}
QString PreferencesDialog::getSourceDriverStr() const
{
	PreferencesDialog::Src type = getSourceType();
	if(type==kSrcRGBD)
	{
		return _ui->comboBox_cameraRGBD->currentText();
	}
	else if(type==kSrcStereo)
	{
		return _ui->comboBox_cameraStereo->currentText();
	}
	else if(type==kSrcRGB)
	{
		return _ui->source_comboBox_image_type->currentText();
	}
	else if(type==kSrcDatabase)
	{
		return "Database";
	}
	return "";
}

QString PreferencesDialog::getSourceDevice() const
{
	return _ui->lineEdit_sourceDevice->text();
}

Transform PreferencesDialog::getSourceLocalTransform() const
{
	Transform t = Transform::fromString(_ui->lineEdit_sourceLocalTransform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
	if(t.isNull())
	{
		return Transform::getIdentity();
	}
	return t;
}

Transform PreferencesDialog::getStereoLaserLocalTransform() const
{
	Transform t = Transform::fromString(_ui->lineEdit_cameraStereoImages_laser_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
	if(t.isNull())
	{
		return Transform::getIdentity();
	}
	return t;
}

QString PreferencesDialog::getSourceDatabasePath() const
{
	return _ui->source_database_lineEdit_path->text();
}
bool PreferencesDialog::getSourceDatabaseOdometryIgnored() const
{
	return _ui->source_checkBox_ignoreOdometry->isChecked();
}
bool PreferencesDialog::getSourceDatabaseGoalDelayIgnored() const
{
	return _ui->source_checkBox_ignoreGoalDelay->isChecked();
}
bool PreferencesDialog::getSourceDatabaseGoalsIgnored() const
{
	return _ui->source_checkBox_ignoreGoals->isChecked();
}
int PreferencesDialog::getSourceDatabaseStartPos() const
{
	return _ui->source_spinBox_databaseStartPos->value();
}
bool PreferencesDialog::getSourceDatabaseStampsUsed() const
{
	return _ui->source_checkBox_useDbStamps->isChecked();
}
bool PreferencesDialog::isSourceRGBDColorOnly() const
{
	return _ui->checkbox_rgbd_colorOnly->isChecked();
}
bool PreferencesDialog::isSourceStereoDepthGenerated() const
{
	return _ui->checkbox_stereo_depthGenerated->isChecked();
}

Camera * PreferencesDialog::createCamera(bool useRawImages)
{
	Src driver = this->getSourceDriver();
	Camera * camera = 0;
	if(driver == PreferencesDialog::kSrcOpenNI_PCL)
	{
		if(useRawImages)
		{
			QMessageBox::warning(this, tr("Calibration"),
					tr("Using raw images for \"OpenNI\" driver is not yet supported. "
					    "Factory calibration loaded from OpenNI is used."), QMessageBox::Ok);
			return 0;
		}
		else
		{
			camera = new CameraOpenni(
					_ui->lineEdit_openniOniPath->text().isEmpty()?this->getSourceDevice().toStdString():_ui->lineEdit_openniOniPath->text().toStdString(),
					this->getGeneralInputRate(),
					this->getSourceLocalTransform());
		}
	}
	else if(driver == PreferencesDialog::kSrcOpenNI2)
	{
		if(useRawImages)
		{
			QMessageBox::warning(this, tr("Calibration"),
					tr("Using raw images for \"OpenNI2\" driver is not yet supported. "
						"Factory calibration loaded from OpenNI2 is used."), QMessageBox::Ok);
			return 0;
		}
		else
		{
			camera = new CameraOpenNI2(
					_ui->lineEdit_openni2OniPath->text().isEmpty()?this->getSourceDevice().toStdString():_ui->lineEdit_openni2OniPath->text().toStdString(),
					this->getGeneralInputRate(),
					this->getSourceLocalTransform());
		}
	}
	else if(driver == PreferencesDialog::kSrcFreenect)
	{
		if(useRawImages)
		{
			QMessageBox::warning(this, tr("Calibration"),
					tr("Using raw images for \"Freenect\" driver is not yet supported. "
						"Factory calibration loaded from Freenect is used."), QMessageBox::Ok);
			return 0;
		}
		else
		{
			camera = new CameraFreenect(
					this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
					this->getGeneralInputRate(),
					this->getSourceLocalTransform());
		}
	}
	else if(driver == PreferencesDialog::kSrcOpenNI_CV ||
			driver == PreferencesDialog::kSrcOpenNI_CV_ASUS)
	{
		if(useRawImages)
		{
			QMessageBox::warning(this, tr("Calibration"),
					tr("Using raw images for \"OpenNI\" driver is not yet supported. "
						"Factory calibration loaded from OpenNI is used."), QMessageBox::Ok);
			return 0;
		}
		else
		{
			camera = new CameraOpenNICV(
					driver == PreferencesDialog::kSrcOpenNI_CV_ASUS,
					this->getGeneralInputRate(),
					this->getSourceLocalTransform());
		}
	}
	else if(driver == kSrcFreenect2)
	{
		camera = new CameraFreenect2(
			this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
			useRawImages?CameraFreenect2::kTypeColorIR:(CameraFreenect2::Type)_ui->comboBox_freenect2Format->currentIndex(),
			this->getGeneralInputRate(),
			this->getSourceLocalTransform(),
			_ui->doubleSpinBox_freenect2MinDepth->value(),
			_ui->doubleSpinBox_freenect2MaxDepth->value(),
			_ui->checkBox_freenect2BilateralFiltering->isChecked(),
			_ui->checkBox_freenect2EdgeAwareFiltering->isChecked(),
			_ui->checkBox_freenect2NoiseFiltering->isChecked());
	}
	else if(driver == kSrcRGBDImages)
	{
		camera = new CameraRGBDImages(
			_ui->lineEdit_cameraRGBDImages_path_rgb->text().append(QDir::separator()).toStdString(),
			_ui->lineEdit_cameraRGBDImages_path_depth->text().append(QDir::separator()).toStdString(),
			_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
			_ui->checkBox_RGBDImages_timestamps->isChecked(),
			_ui->lineEdit_cameraRGBDImages_timestamps->text().toStdString(),
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcDC1394)
	{
		camera = new CameraStereoDC1394(
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcFlyCapture2)
	{
		if(useRawImages)
		{
			QMessageBox::warning(this, tr("Calibration"),
					tr("Using raw images for \"FlyCapture2\" driver is not yet supported. "
						"Factory calibration loaded from FlyCapture2 is used."), QMessageBox::Ok);
			return 0;
		}
		else
		{
			camera = new CameraStereoFlyCapture2(
				this->getGeneralInputRate(),
				this->getSourceLocalTransform());
		}
	}
	else if(driver == kSrcStereoImages)
	{
		camera = new CameraStereoImages(
			_ui->lineEdit_cameraStereoImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
			this->getStereoLaserLocalTransform(),
			_ui->spinBox_cameraStereoImages_max_scan_pts->value(),
			_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
			_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
			_ui->checkBox_stereoImages_timestamps->isChecked(),
			_ui->lineEdit_cameraStereoImages_timestamps->text().toStdString(),
			_ui->checkBox_stereoImages_rectify->isChecked(),
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcStereoVideo)
	{
		camera = new CameraStereoVideo(
			_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
			_ui->checkBox_stereoVideo_rectify->isChecked(),
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcUsbDevice)
	{
		camera = new CameraVideo(
			this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcVideo)
	{
		camera = new CameraVideo(
			_ui->source_video_lineEdit_path->text().toStdString(),
			_ui->checkBox_rgbVideo_rectify->isChecked(),
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcImages)
	{
		camera = new CameraImages(
			_ui->source_images_lineEdit_path->text().toStdString(),
			_ui->source_images_spinBox_startPos->value(),
			_ui->source_images_refreshDir->isChecked(),
			_ui->checkBox_rgbImages_rectify->isChecked(),
			false,
			this->getGeneralInputRate(),
			this->getSourceLocalTransform());
	}
	else if(driver == kSrcDatabase)
	{
		UERROR("Call directly DBReader for kSrcDatabase.");
		return 0;
	}
	else
	{
		UFATAL("Source driver undefined (%d)!", driver);
	}

	if(camera)
	{
		// don't set calibration folder if we want raw images
		QString dir = this->getCameraInfoDir();
		QString name = QFileInfo(_ui->lineEdit_calibrationFile->text()
				.remove("_left.yaml")
				.remove("_right.yaml")
				.remove("_pose.yaml")
				.remove(".yaml")).baseName();
		if(!_ui->lineEdit_calibrationFile->text().isEmpty())
		{
			QDir d = QFileInfo(_ui->lineEdit_calibrationFile->text()).dir();
			if(!_ui->lineEdit_calibrationFile->text().remove(QFileInfo(_ui->lineEdit_calibrationFile->text()).baseName()).isEmpty())
			{
				dir = d.absolutePath();
			}
		}
		if(!camera->init(useRawImages?"":dir.toStdString(), name.toStdString()))
		{
			UWARN("init camera failed... ");
			QMessageBox::warning(this,
					   tr("RTAB-Map"),
					   tr("Camera initialization failed..."));
			delete camera;
			camera = 0;
		}
		else
		{
			//should be after initialization
			if(driver == kSrcOpenNI2)
			{
				((CameraOpenNI2*)camera)->setAutoWhiteBalance(_ui->openni2_autoWhiteBalance->isChecked());
				((CameraOpenNI2*)camera)->setAutoExposure(_ui->openni2_autoExposure->isChecked());
				((CameraOpenNI2*)camera)->setMirroring(_ui->openni2_mirroring->isChecked());
				((CameraOpenNI2*)camera)->setOpenNI2StampsAndIDsUsed(_ui->openni2_stampsIdsUsed->isChecked());
				if(CameraOpenNI2::exposureGainAvailable())
				{
					((CameraOpenNI2*)camera)->setExposure(_ui->openni2_exposure->value());
					((CameraOpenNI2*)camera)->setGain(_ui->openni2_gain->value());
				}
			}
		}
	}

	return camera;
}

bool PreferencesDialog::isStatisticsPublished() const
{
	return _ui->groupBox_publishing->isChecked();
}
double PreferencesDialog::getLoopThr() const
{
	return _ui->general_doubleSpinBox_hardThr->value();
}
double PreferencesDialog::getVpThr() const
{
	return _ui->general_doubleSpinBox_vp->value();
}
double PreferencesDialog::getSimThr() const
{
	return _ui->doubleSpinBox_similarityThreshold->value();
}
int PreferencesDialog::getOdomStrategy() const
{
	return _ui->odom_strategy->currentIndex();
}
int PreferencesDialog::getOdomBufferSize() const
{
	return _ui->odom_dataBufferSize->value();
}
bool PreferencesDialog::getRegVarianceFromInliersCount() const
{
	return _ui->loopClosure_bowVarianceFromInliersCount->isChecked();
}

QString PreferencesDialog::getCameraInfoDir() const
{
	return (this->getWorkingDirectory().isEmpty()?".":this->getWorkingDirectory())+"/camera_info";
}

bool PreferencesDialog::isImagesKept() const
{
	return _ui->general_checkBox_imagesKept->isChecked();
}
float PreferencesDialog::getTimeLimit() const
{
	return _ui->general_doubleSpinBox_timeThr->value();
}
float PreferencesDialog::getDetectionRate() const
{
	return _ui->general_doubleSpinBox_detectionRate->value();
}
bool PreferencesDialog::isSLAMMode() const
{
	return _ui->general_checkBox_SLAM_mode->isChecked();
}

/*** SETTERS ***/
void PreferencesDialog::setInputRate(double value)
{
	ULOGGER_DEBUG("imgRate=%2.2f", value);
	if(_ui->general_doubleSpinBox_imgRate->value() != value)
	{
		_ui->general_doubleSpinBox_imgRate->setValue(value);
		if(validateForm())
		{
			this->writeSettings(getTmpIniFilePath());
		}
		else
		{
			this->readSettingsBegin();
		}
	}
}

void PreferencesDialog::setDetectionRate(double value)
{
	ULOGGER_DEBUG("detectionRate=%2.2f", value);
	if(_ui->general_doubleSpinBox_detectionRate->value() != value)
	{
		_ui->general_doubleSpinBox_detectionRate->setValue(value);
		if(validateForm())
		{
			this->writeSettings(getTmpIniFilePath());
		}
		else
		{
			this->readSettingsBegin();
		}
	}
}

void PreferencesDialog::setTimeLimit(float value)
{
	ULOGGER_DEBUG("timeLimit=%fs", value);
	if(_ui->general_doubleSpinBox_timeThr->value() != value)
	{
		_ui->general_doubleSpinBox_timeThr->setValue(value);
		if(validateForm())
		{
			this->writeSettings(getTmpIniFilePath());
		}
		else
		{
			this->readSettingsBegin();
		}
	}
}

void PreferencesDialog::setSLAMMode(bool enabled)
{
	ULOGGER_DEBUG("slam mode=%s", enabled?"true":"false");
	if(_ui->general_checkBox_SLAM_mode->isChecked() != enabled)
	{
		_ui->general_checkBox_SLAM_mode->setChecked(enabled);
		if(validateForm())
		{
			this->writeSettings(getTmpIniFilePath());
		}
		else
		{
			this->readSettingsBegin();
		}
	}
}

void PreferencesDialog::testOdometry()
{
	DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
					 _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
					 true,
					 true);
	Camera * camera = 0;
	if(this->getSourceType() == kSrcDatabase)
	{
		if(!dbReader.init())
		{
			QMessageBox::warning(this, tr("Camera viewer"), tr("Failed to initialize the database reader!"));
			return;
		}
	}
	else
	{
		camera = this->createCamera();
		if(!camera)
		{
			return;
		}
	}


	ParametersMap parameters = this->getAllParameters();
	Odometry * odometry;
	if(this->getOdomStrategy() == 1)
	{
		odometry = new OdometryOpticalFlow(parameters);
	}
	else if(this->getOdomStrategy() == 2)
	{
		odometry = new OdometryMono(parameters);
	}
	else
	{
		odometry = new OdometryBOW(parameters);
	}

	OdometryThread odomThread(
			odometry, // take ownership of odometry
			_ui->odom_dataBufferSize->value());
	odomThread.registerToEventsManager();

	OdometryViewer * odomViewer = new OdometryViewer(10,
					_ui->spinBox_decimation_odom->value(),
					_ui->doubleSpinBox_voxelSize_odom->value(),
					_ui->doubleSpinBox_maxDepth_odom->value(),
					this->getOdomQualityWarnThr(),
					this);
	odomViewer->setWindowTitle(tr("Odometry viewer"));
	odomViewer->resize(1280, 480+QPushButton().minimumHeight());
	odomViewer->registerToEventsManager();

	if(camera)
	{
		CameraThread cameraThread(camera); // take ownership of camera
		cameraThread.setMirroringEnabled(isSourceMirroring());
		cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
		cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
		UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
		UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
		UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");

		odomThread.start();
		cameraThread.start();

		odomViewer->exec();
		delete odomViewer;

		cameraThread.join(true);
		odomThread.join(true);
	}
	else
	{
		UEventsManager::createPipe(&dbReader, &odomThread, "CameraEvent");
		UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
		UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");

		odomThread.start();
		dbReader.start();

		odomViewer->exec();
		delete odomViewer;

		dbReader.join(true);
		odomThread.join(true);
	}
}

void PreferencesDialog::testCamera()
{
	CameraViewer * window = new CameraViewer(this);
	window->setWindowTitle(tr("Camera viewer"));
	window->resize(1280, 480+QPushButton().minimumHeight());
	window->registerToEventsManager();

	if(this->getSourceType() == kSrcDatabase)
	{
		DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
						  _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
						 true,
						 true);
		if(!dbReader.init())
		{
			QMessageBox::warning(this, tr("Camera viewer"), tr("Failed to initialize the database reader!"));
			delete window;
		}
		else
		{
			UEventsManager::createPipe(&dbReader, window, "CameraEvent");

			dbReader.start();
			window->exec();
			delete window;
			dbReader.join(true);
		}
	}
	else
	{
		Camera * camera = this->createCamera();
		if(camera)
		{
			CameraThread cameraThread(camera);
			cameraThread.setMirroringEnabled(isSourceMirroring());
			cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
			cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
			UEventsManager::createPipe(&cameraThread, window, "CameraEvent");

			cameraThread.start();
			window->exec();
			delete window;
			cameraThread.join(true);
		}
		else
		{
			delete window;
		}
	}

}

void PreferencesDialog::calibrate()
{
	if(this->getSourceType() == kSrcDatabase)
	{
		QMessageBox::warning(this,
				   tr("Calibration"),
				   tr("Cannot calibrate database source!"));
		return;
	}
	Camera * camera = this->createCamera(true);
	if(!camera)
	{
		return;
	}

	if(!this->getCameraInfoDir().isEmpty())
	{
		QDir dir(this->getCameraInfoDir());
		if (!dir.exists())
		{
			UINFO("Creating camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
			if(!dir.mkpath(this->getCameraInfoDir()))
			{
				UWARN("Could create camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
			}
		}
	}
	_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB); // RGB+Depth or left+right
	_calibrationDialog->setSwitchedImages(dynamic_cast<CameraFreenect2*>(camera) != 0);
	_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
	_calibrationDialog->registerToEventsManager();

	CameraThread cameraThread(camera);
	UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");

	cameraThread.start();

	_calibrationDialog->exec();
	_calibrationDialog->unregisterFromEventsManager();

	cameraThread.join(true);
}

void PreferencesDialog::calibrateSimple()
{
	CreateSimpleCalibrationDialog dialog(this->getCameraInfoDir(), "", this);
	dialog.exec();
}

}