rtabmap_ros/guilib/src/ui/DatabaseViewer.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>DatabaseViewer</class>
 <widget class="QMainWindow" name="DatabaseViewer">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>1285</width>
    <height>804</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Database viewer</string>
  </property>
  <property name="layoutDirection">
   <enum>Qt::LeftToRight</enum>
  </property>
  <widget class="QWidget" name="centralwidget">
   <layout class="QVBoxLayout" name="verticalLayout_7" stretch="2,0">
    <property name="spacing">
     <number>0</number>
    </property>
    <property name="margin">
     <number>0</number>
    </property>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="1,1">
      <property name="rightMargin">
       <number>0</number>
      </property>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,0,0">
        <property name="spacing">
         <number>0</number>
        </property>
        <item>
         <widget class="rtabmap::ImageView" name="graphicsView_A" native="true"/>
        </item>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
          <property name="horizontalScrollBarPolicy">
           <enum>Qt::ScrollBarAsNeeded</enum>
          </property>
          <property name="widgetResizable">
           <bool>true</bool>
          </property>
          <widget class="QWidget" name="scrollAreaWidgetContents_2">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>196</width>
             <height>184</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
            <item row="0" column="0">
             <widget class="QLabel" name="label_parentsA_2">
              <property name="text">
               <string>Parents</string>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_parentsA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_childrenA_2">
              <property name="text">
               <string>Children</string>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_childrenA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QLabel" name="label_childrenA_4">
              <property name="text">
               <string>Label</string>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_labelA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="6" column="0">
             <widget class="QLabel" name="label_childrenA_6">
              <property name="text">
               <string>Stamp</string>
              </property>
             </widget>
            </item>
            <item row="6" column="1">
             <widget class="QLabel" name="label_stampA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QLabel" name="label_childrenA_8">
              <property name="text">
               <string>Weight</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_weightA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QLabel" name="label_childrenA_10">
              <property name="text">
               <string>Map ID</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_mapA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <widget class="QLabel" name="label_childrenA_12">
              <property name="text">
               <string>Pose</string>
              </property>
             </widget>
            </item>
            <item row="5" column="1">
             <widget class="QLabel" name="label_poseA">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
          <property name="margin">
           <number>12</number>
          </property>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout_4">
            <item>
             <widget class="QLabel" name="label_2">
              <property name="text">
               <string>Index :</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_3">
              <property name="text">
               <string>Id :</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout_3">
            <item>
             <widget class="QLabel" name="label_indexA">
              <property name="text">
               <string>indexA</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_idA">
              <property name="text">
               <string>idA</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QSlider" name="horizontalSlider_A">
            <property name="focusPolicy">
             <enum>Qt::ClickFocus</enum>
            </property>
            <property name="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
            <property name="tickPosition">
             <enum>QSlider::TicksAbove</enum>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </item>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0,0">
        <property name="spacing">
         <number>0</number>
        </property>
        <item>
         <widget class="rtabmap::ImageView" name="graphicsView_B" native="true"/>
        </item>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="horizontalScrollBarPolicy">
           <enum>Qt::ScrollBarAsNeeded</enum>
          </property>
          <property name="widgetResizable">
           <bool>true</bool>
          </property>
          <widget class="QWidget" name="scrollAreaWidgetContents">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>195</width>
             <height>184</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
            <item row="0" column="1">
             <widget class="QLabel" name="label_parentsB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QLabel" name="label_parentsA_4">
              <property name="text">
               <string>Parents</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_childrenA_3">
              <property name="text">
               <string>Children</string>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_childrenB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QLabel" name="label_childrenA_5">
              <property name="text">
               <string>Label</string>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_labelB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="6" column="0">
             <widget class="QLabel" name="label_childrenA_7">
              <property name="text">
               <string>Stamp</string>
              </property>
             </widget>
            </item>
            <item row="6" column="1">
             <widget class="QLabel" name="label_stampB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QLabel" name="label_childrenA_9">
              <property name="text">
               <string>Weight</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_weightB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QLabel" name="label_childrenA_11">
              <property name="text">
               <string>Map ID</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_mapB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <widget class="QLabel" name="label_childrenA_13">
              <property name="text">
               <string>Pose</string>
              </property>
             </widget>
            </item>
            <item row="5" column="1">
             <widget class="QLabel" name="label_poseB">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_2">
          <property name="margin">
           <number>12</number>
          </property>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout">
            <item>
             <widget class="QLabel" name="label_5">
              <property name="text">
               <string>Index :</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_4">
              <property name="text">
               <string>Id :</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <layout class="QVBoxLayout" name="verticalLayout_2">
            <item>
             <widget class="QLabel" name="label_indexB">
              <property name="text">
               <string>indexB</string>
              </property>
             </widget>
            </item>
            <item>
             <widget class="QLabel" name="label_idB">
              <property name="text">
               <string>idB</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QSlider" name="horizontalSlider_B">
            <property name="focusPolicy">
             <enum>Qt::ClickFocus</enum>
            </property>
            <property name="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
            <property name="tickPosition">
             <enum>QSlider::TicksAbove</enum>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </item>
     </layout>
    </item>
    <item>
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Close</set>
      </property>
     </widget>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menubar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>1285</width>
     <height>22</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuFile">
    <property name="title">
     <string>File</string>
    </property>
    <addaction name="actionOpen_database"/>
    <addaction name="separator"/>
    <addaction name="actionSave_config"/>
    <addaction name="separator"/>
    <addaction name="actionGenerate_3D_map_pcd"/>
    <addaction name="actionExport_3D_laser_scans_ply_pcd"/>
    <addaction name="actionExport"/>
    <addaction name="actionExtract_images"/>
    <addaction name="separator"/>
    <addaction name="actionQuit"/>
   </widget>
   <widget class="QMenu" name="menuEdit">
    <property name="title">
     <string>Edit</string>
    </property>
    <addaction name="actionGenerate_graph_dot"/>
    <addaction name="actionGenerate_local_graph_dot"/>
    <addaction name="actionGenerate_TORO_graph_graph"/>
    <addaction name="actionGenerate_g2o_graph_g2o"/>
    <addaction name="separator"/>
    <addaction name="actionDetect_more_loop_closures"/>
    <addaction name="actionVisual_Refine_all_neighbor_links"/>
    <addaction name="actionRefine_all_neighbor_links"/>
    <addaction name="actionVisual_Refine_all_loop_closure_links"/>
    <addaction name="actionRefine_all_loop_closure_links"/>
    <addaction name="separator"/>
    <addaction name="actionReset_all_changes"/>
    <addaction name="separator"/>
    <addaction name="actionView_3D_map"/>
    <addaction name="actionView_3D_laser_scans"/>
   </widget>
   <widget class="QMenu" name="menuView">
    <property name="title">
     <string>View</string>
    </property>
   </widget>
   <addaction name="menuFile"/>
   <addaction name="menuEdit"/>
   <addaction name="menuView"/>
  </widget>
  <widget class="QDockWidget" name="dockWidget_constraints">
   <property name="windowTitle">
    <string>Constraints view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents">
    <layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0,0">
     <item>
      <widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_10">
       <item>
        <widget class="QCheckBox" name="checkBox_show3DWords">
         <property name="text">
          <string>Words</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_show3Dclouds">
         <property name="text">
          <string>Clouds</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QCheckBox" name="checkBox_show2DScans">
         <property name="text">
          <string>Scans</string>
         </property>
         <property name="checked">
          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_3">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0">
       <item row="0" column="0">
        <widget class="QLabel" name="label">
         <property name="text">
          <string>Neighbor links</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QSlider" name="horizontalSlider_neighbors">
         <property name="focusPolicy">
          <enum>Qt::ClickFocus</enum>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
       <item row="1" column="0">
        <widget class="QLabel" name="label_6">
         <property name="text">
          <string>Loop closure links</string>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QSlider" name="horizontalSlider_loops">
         <property name="focusPolicy">
          <enum>Qt::ClickFocus</enum>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="label_33">
         <property name="text">
          <string>Type</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_type">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_16">
         <property name="text">
          <string>Transform</string>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_constraint">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QLabel" name="label_18">
         <property name="text">
          <string>σ (rot, trans)</string>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_variance">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="5" column="0">
        <widget class="QCheckBox" name="checkBox_showOptimized">
         <property name="text">
          <string>Optimized</string>
         </property>
        </widget>
       </item>
       <item row="5" column="1">
        <widget class="QLabel" name="label_constraint_opt">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_5">
       <item>
        <widget class="QPushButton" name="pushButton_refineVisually">
         <property name="text">
          <string>Refine (Visual)</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_refine">
         <property name="text">
          <string>Refine (ICP)</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_reset">
         <property name="text">
          <string>Reset</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_add">
         <property name="text">
          <string>Add</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QPushButton" name="pushButton_reject">
         <property name="text">
          <string>Reject</string>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_graphView">
   <property name="windowTitle">
    <string>Graph view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_2">
    <layout class="QVBoxLayout" name="verticalLayout_9">
     <item>
      <widget class="rtabmap::GraphViewer" name="graphViewer"/>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_4">
       <item>
        <widget class="QLabel" name="label_iterations">
         <property name="text">
          <string>#</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QSlider" name="horizontalSlider_iterations">
         <property name="focusPolicy">
          <enum>Qt::ClickFocus</enum>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
          <enum>QSlider::TicksAbove</enum>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
       <item row="6" column="0">
        <widget class="QLabel" name="label_loopClosures">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
        <widget class="QLabel" name="label_timeGrid">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_timeOptimization">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
       </item>
       <item row="5" column="1">
        <widget class="QLabel" name="label_52">
         <property name="text">
          <string>Poses</string>
         </property>
        </widget>
       </item>
       <item row="3" column="1">
        <widget class="QLabel" name="label_39">
         <property name="text">
          <string>Time optimization (s)</string>
         </property>
        </widget>
       </item>
       <item row="6" column="1">
        <widget class="QLabel" name="label_41">
         <property name="text">
          <string>Links (N, NM, G, LS, LT, U)</string>
         </property>
        </widget>
       </item>
       <item row="2" column="1">
        <widget class="QLabel" name="label_10">
         <property name="text">
          <string>Path length (m)</string>
         </property>
        </widget>
       </item>
       <item row="4" column="1">
        <widget class="QLabel" name="label_45">
         <property name="text">
          <string>Time grid (s)</string>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
        <widget class="QLabel" name="label_pathLength">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
         <item>
          <widget class="QLabel" name="label_optimizeFrom">
           <property name="text">
            <string>Graph root</string>
           </property>
          </widget>
         </item>
         <item>
          <widget class="QCheckBox" name="checkBox_spanAllMaps">
           <property name="text">
            <string>Span to all maps</string>
           </property>
           <property name="checked">
            <bool>true</bool>
           </property>
          </widget>
         </item>
        </layout>
       </item>
       <item row="5" column="0">
        <widget class="QLabel" name="label_poses">
         <property name="text">
          <string/>
         </property>
        </widget>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_parameters">
   <property name="floating">
    <bool>false</bool>
   </property>
   <property name="allowedAreas">
    <set>Qt::AllDockWidgetAreas</set>
   </property>
   <property name="windowTitle">
    <string>Parameters</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>1</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_3">
    <layout class="QVBoxLayout" name="verticalLayout_10">
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_11">
       <item>
        <widget class="QComboBox" name="comboBox_logger_level">
         <property name="currentIndex">
          <number>1</number>
         </property>
         <item>
          <property name="text">
           <string>Debug</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>Info</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>Warning</string>
          </property>
         </item>
         <item>
          <property name="text">
           <string>Error</string>
          </property>
         </item>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_logger_level">
         <property name="text">
          <string>Logger level</string>
         </property>
        </widget>
       </item>
      </layout>
     </item>
     <item>
      <widget class="QToolBox" name="toolBox">
       <property name="currentIndex">
        <number>5</number>
       </property>
       <widget class="QWidget" name="page">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>312</width>
          <height>374</height>
         </rect>
        </property>
        <attribute name="label">
         <string>ICP</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
         <item row="8" column="0">
          <widget class="QSpinBox" name="spinBox_icp_iteration">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>1000</number>
           </property>
           <property name="value">
            <number>30</number>
           </property>
          </widget>
         </item>
         <item row="8" column="1">
          <widget class="QLabel" name="label_15">
           <property name="text">
            <string>Iteration</string>
           </property>
          </widget>
         </item>
         <item row="9" column="1">
          <widget class="QLabel" name="label_11">
           <property name="text">
            <string>Point to plane</string>
           </property>
          </widget>
         </item>
         <item row="10" column="0">
          <widget class="QSpinBox" name="spinBox_icp_normalKSearch">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>1000</number>
           </property>
           <property name="value">
            <number>20</number>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="QSpinBox" name="spinBox_icp_decimation">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>16</number>
           </property>
           <property name="value">
            <number>8</number>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="QLabel" name="label_14">
           <property name="text">
            <string>Decimation</string>
           </property>
          </widget>
         </item>
         <item row="2" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>2</number>
           </property>
           <property name="maximum">
            <double>100.000000000000000</double>
           </property>
           <property name="value">
            <double>2.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_voxel">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>3</number>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="value">
            <double>0.010000000000000</double>
           </property>
          </widget>
         </item>
         <item row="4" column="1">
          <widget class="QLabel" name="label_13">
           <property name="text">
            <string>Voxel size</string>
           </property>
          </widget>
         </item>
         <item row="6" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxCorrespDistance">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>3</number>
           </property>
           <property name="minimum">
            <double>0.001000000000000</double>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="value">
            <double>0.050000000000000</double>
           </property>
          </widget>
         </item>
         <item row="6" column="1">
          <widget class="QLabel" name="label_12">
           <property name="text">
            <string>Max correspondence distance</string>
           </property>
          </widget>
         </item>
         <item row="11" column="0">
          <widget class="QCheckBox" name="checkBox_icp_2d">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="2" column="1">
          <widget class="QLabel" name="label_17">
           <property name="text">
            <string>Max depth</string>
           </property>
          </widget>
         </item>
         <item row="7" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_minCorrespondenceRatio">
           <property name="suffix">
            <string/>
           </property>
           <property name="decimals">
            <number>2</number>
           </property>
           <property name="minimum">
            <double>0.000000000000000</double>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="value">
            <double>0.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="7" column="1">
          <widget class="QLabel" name="label_46">
           <property name="text">
            <string>Min correspondence ratio</string>
           </property>
          </widget>
         </item>
         <item row="9" column="0">
          <widget class="QCheckBox" name="checkBox_icp_p2plane">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="10" column="1">
          <widget class="QLabel" name="label_20">
           <property name="text">
            <string>Normal K neighbors</string>
           </property>
          </widget>
         </item>
         <item row="11" column="1">
          <widget class="QLabel" name="label_27">
           <property name="text">
            <string>2D icp</string>
           </property>
          </widget>
         </item>
         <item row="12" column="0">
          <spacer name="verticalSpacer">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>20</width>
             <height>40</height>
            </size>
           </property>
          </spacer>
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_68">
           <property name="text">
            <string>Use laser scans for ICP</string>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="QCheckBox" name="checkBox_icp_laserScan">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="3" column="1">
          <widget class="QLabel" name="label_69">
           <property name="text">
            <string>Downsample step size</string>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <widget class="QSpinBox" name="spinBox_icp_downsamplingStepSize">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>999999</number>
           </property>
           <property name="singleStep">
            <number>1000</number>
           </property>
           <property name="value">
            <number>1</number>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_2">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>366</width>
          <height>420</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Visual constraint</string>
        </attribute>
        <layout class="QVBoxLayout" name="verticalLayout_15">
         <item>
          <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
           <item row="6" column="0">
            <widget class="QSpinBox" name="spinBox_visual_iteration">
             <property name="minimum">
              <number>1</number>
             </property>
             <property name="maximum">
              <number>1000</number>
             </property>
             <property name="value">
              <number>100</number>
             </property>
            </widget>
           </item>
           <item row="0" column="0">
            <widget class="QCheckBox" name="checkBox_visual_2d">
             <property name="text">
              <string/>
             </property>
            </widget>
           </item>
           <item row="5" column="1">
            <widget class="QLabel" name="label_22">
             <property name="text">
              <string>Max correspondence distance</string>
             </property>
            </widget>
           </item>
           <item row="4" column="0">
            <widget class="QSpinBox" name="spinBox_visual_minCorrespondences">
             <property name="minimum">
              <number>3</number>
             </property>
             <property name="maximum">
              <number>1000</number>
             </property>
             <property name="value">
              <number>10</number>
             </property>
            </widget>
           </item>
           <item row="0" column="1">
            <widget class="QLabel" name="label_28">
             <property name="text">
              <string>2D transform (x,y,yaw)</string>
             </property>
            </widget>
           </item>
           <item row="5" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxCorrespDistance">
             <property name="suffix">
              <string> m</string>
             </property>
             <property name="decimals">
              <number>3</number>
             </property>
             <property name="minimum">
              <double>0.001000000000000</double>
             </property>
             <property name="maximum">
              <double>1.000000000000000</double>
             </property>
             <property name="value">
              <double>0.020000000000000</double>
             </property>
            </widget>
           </item>
           <item row="1" column="1">
            <widget class="QLabel" name="label_53">
             <property name="text">
              <string>Motion estimation.</string>
             </property>
            </widget>
           </item>
           <item row="1" column="0">
            <widget class="QComboBox" name="comboBox_estimationType">
             <item>
              <property name="text">
               <string>3D to 3D</string>
              </property>
             </item>
             <item>
              <property name="text">
               <string>3D to 2D (PnP)</string>
              </property>
             </item>
            </widget>
           </item>
           <item row="6" column="1">
            <widget class="QLabel" name="label_23">
             <property name="text">
              <string>Iteration</string>
             </property>
            </widget>
           </item>
           <item row="3" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
             <property name="suffix">
              <string> m</string>
             </property>
             <property name="decimals">
              <number>1</number>
             </property>
             <property name="minimum">
              <double>0.100000000000000</double>
             </property>
             <property name="maximum">
              <double>1.000000000000000</double>
             </property>
             <property name="singleStep">
              <double>0.100000000000000</double>
             </property>
             <property name="value">
              <double>0.600000000000000</double>
             </property>
            </widget>
           </item>
           <item row="3" column="1">
            <widget class="QLabel" name="label_26">
             <property name="text">
              <string>NNDR</string>
             </property>
            </widget>
           </item>
           <item row="4" column="1">
            <widget class="QLabel" name="label_21">
             <property name="text">
              <string>Min correspondences</string>
             </property>
            </widget>
           </item>
           <item row="2" column="1">
            <widget class="QLabel" name="label_65">
             <property name="text">
              <string>PnP flags.</string>
             </property>
            </widget>
           </item>
           <item row="2" column="0">
            <widget class="QComboBox" name="comboBox_pnpFlags">
             <property name="currentIndex">
              <number>1</number>
             </property>
             <item>
              <property name="text">
               <string>Iterative</string>
              </property>
             </item>
             <item>
              <property name="text">
               <string>EPNP</string>
              </property>
             </item>
             <item>
              <property name="text">
               <string>P3P</string>
              </property>
             </item>
            </widget>
           </item>
           <item row="7" column="1">
            <widget class="QLabel" name="label_32">
             <property name="text">
              <string>Variance from inliers count</string>
             </property>
            </widget>
           </item>
           <item row="7" column="0">
            <widget class="QCheckBox" name="checkBox_visual_var_inliers">
             <property name="text">
              <string/>
             </property>
            </widget>
           </item>
          </layout>
         </item>
         <item>
          <widget class="QGroupBox" name="groupBox_visual_recomputeFeatures">
           <property name="title">
            <string>Re-extract features</string>
           </property>
           <property name="checkable">
            <bool>true</bool>
           </property>
           <layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
            <item row="0" column="1">
             <widget class="QLabel" name="label_24">
              <property name="text">
               <string>Feature type</string>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QComboBox" name="comboBox_featureType">
              <property name="currentIndex">
               <number>0</number>
              </property>
              <item>
               <property name="text">
                <string>SURF</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>SIFT</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>ORB</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>FAST+FREAK</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>FAST+BRIEF</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>GFTT+FREAK</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>GFTT+BRIEF</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>BRISK</string>
               </property>
              </item>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_25">
              <property name="text">
               <string>Nearest neighbor type</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QComboBox" name="comboBox_nnType">
              <property name="currentIndex">
               <number>3</number>
              </property>
              <item>
               <property name="text">
                <string>FLANN Naive</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>FLANN Kd-Tree</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>FLANN LSH</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Brute force</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Brute force GPU</string>
               </property>
              </item>
             </widget>
            </item>
            <item row="3" column="0">
             <spacer name="verticalSpacer_2">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
                <height>40</height>
               </size>
              </property>
             </spacer>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_19">
              <property name="text">
               <string>Max feature depth</string>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="maximum">
               <double>100.000000000000000</double>
              </property>
              <property name="value">
               <double>4.000000000000000</double>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_3">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>338</width>
          <height>330</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Graph optimization</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
         <item row="3" column="0">
          <widget class="QCheckBox" name="checkBox_2dslam">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="7" column="2">
          <widget class="QLabel" name="label_48">
           <property name="text">
            <string>Ignore global loop closures</string>
           </property>
          </widget>
         </item>
         <item row="10" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreUserLoop">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="1" column="2">
          <widget class="QLabel" name="label_7">
           <property name="text">
            <string>Iterations</string>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="QSpinBox" name="spinBox_iterations">
           <property name="suffix">
            <string/>
           </property>
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>1000</number>
           </property>
           <property name="value">
            <number>100</number>
           </property>
          </widget>
         </item>
         <item row="2" column="1">
          <widget class="QSpinBox" name="spinBox_optimizationDepth">
           <property name="suffix">
            <string/>
           </property>
           <property name="minimum">
            <number>0</number>
           </property>
           <property name="maximum">
            <number>1000</number>
           </property>
           <property name="value">
            <number>0</number>
           </property>
          </widget>
         </item>
         <item row="6" column="2">
          <widget class="QLabel" name="label_35">
           <property name="text">
            <string>Ignore pose correction</string>
           </property>
          </widget>
         </item>
         <item row="7" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="6" column="0">
          <widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="9" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="11" column="0">
          <spacer name="verticalSpacer_3">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>0</width>
             <height>40</height>
            </size>
           </property>
          </spacer>
         </item>
         <item row="0" column="0" colspan="2">
          <widget class="QComboBox" name="comboBox_graphOptimizer">
           <property name="sizeAdjustPolicy">
            <enum>QComboBox::AdjustToContents</enum>
           </property>
           <item>
            <property name="text">
             <string>TORO</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>g2o</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>GTSAM</string>
            </property>
           </item>
          </widget>
         </item>
         <item row="2" column="2">
          <widget class="QLabel" name="label_8">
           <property name="text">
            <string>Depth (0=inf)</string>
           </property>
          </widget>
         </item>
         <item row="10" column="2">
          <widget class="QLabel" name="label_50">
           <property name="text">
            <string>Ignore user loop closures</string>
           </property>
          </widget>
         </item>
         <item row="8" column="2">
          <widget class="QLabel" name="label_47">
           <property name="text">
            <string>Ignore local loop closures (space)</string>
           </property>
          </widget>
         </item>
         <item row="8" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="9" column="2">
          <widget class="QLabel" name="label_49">
           <property name="text">
            <string>Ignore local loop closures (time)</string>
           </property>
          </widget>
         </item>
         <item row="0" column="2">
          <widget class="QLabel" name="label_40">
           <property name="text">
            <string>Strategy</string>
           </property>
          </widget>
         </item>
         <item row="5" column="0">
          <widget class="QCheckBox" name="checkBox_ignoreCovariance">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item row="3" column="2">
          <widget class="QLabel" name="label_51">
           <property name="text">
            <string>2d SLAM</string>
           </property>
          </widget>
         </item>
         <item row="5" column="2">
          <widget class="QLabel" name="label_34">
           <property name="text">
            <string>Ignore covariance</string>
           </property>
          </widget>
         </item>
         <item row="4" column="2">
          <widget class="QLabel" name="label_63">
           <property name="text">
            <string>Robust optimization</string>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <widget class="QCheckBox" name="checkBox_robust">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_4">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>261</width>
          <height>411</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Grid/cloud generation</string>
        </attribute>
        <layout class="QVBoxLayout" name="verticalLayout_16">
         <item>
          <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
           <item row="0" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_gridCellSize">
             <property name="suffix">
              <string> m</string>
             </property>
             <property name="minimum">
              <double>0.010000000000000</double>
             </property>
             <property name="maximum">
              <double>5.000000000000000</double>
             </property>
             <property name="singleStep">
              <double>0.010000000000000</double>
             </property>
             <property name="value">
              <double>0.050000000000000</double>
             </property>
            </widget>
           </item>
           <item row="0" column="1">
            <widget class="QLabel" name="label_36">
             <property name="text">
              <string>Grid cell size</string>
             </property>
            </widget>
           </item>
           <item row="1" column="1">
            <widget class="QLabel" name="label_44">
             <property name="text">
              <string>Errode</string>
             </property>
            </widget>
           </item>
           <item row="1" column="0">
            <widget class="QCheckBox" name="checkBox_gridErode">
             <property name="text">
              <string/>
             </property>
            </widget>
           </item>
           <item row="2" column="1">
            <widget class="QLabel" name="label_64">
             <property name="text">
              <string>Fill unknown space</string>
             </property>
            </widget>
           </item>
           <item row="2" column="0">
            <widget class="QCheckBox" name="checkBox_gridFillUnkownSpace">
             <property name="text">
              <string/>
             </property>
            </widget>
           </item>
          </layout>
         </item>
         <item>
          <widget class="QGroupBox" name="groupBox_gridFromProjection">
           <property name="title">
            <string>Grid from 3D projection</string>
           </property>
           <property name="checkable">
            <bool>true</bool>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
           <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
            <item row="0" column="0">
             <widget class="QSpinBox" name="spinBox_projDecimation">
              <property name="minimum">
               <number>1</number>
              </property>
              <property name="maximum">
               <number>8</number>
              </property>
              <property name="value">
               <number>4</number>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_37">
              <property name="text">
               <string>Cloud decimation</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxDepth">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>1</number>
              </property>
              <property name="minimum">
               <double>0.400000000000000</double>
              </property>
              <property name="maximum">
               <double>15.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>1.000000000000000</double>
              </property>
              <property name="value">
               <double>4.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_38">
              <property name="text">
               <string>Cloud max depth</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_66">
              <property name="text">
               <string>Cluster size</string>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_67">
              <property name="text">
               <string>Max ground angle</string>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxAngle">
              <property name="suffix">
               <string> rad</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="minimum">
               <double>0.000000000000000</double>
              </property>
              <property name="maximum">
               <double>3.140000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.790000000000000</double>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QSpinBox" name="spinBox_projClusterSize">
              <property name="minimum">
               <number>1</number>
              </property>
              <property name="maximum">
               <number>10000</number>
              </property>
              <property name="value">
               <number>20</number>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
         <item>
          <widget class="QGroupBox" name="groupBox_posefiltering">
           <property name="title">
            <string>Pose filtering</string>
           </property>
           <property name="checkable">
            <bool>true</bool>
           </property>
           <property name="checked">
            <bool>false</bool>
           </property>
           <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
            <item row="4" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringAngle">
              <property name="suffix">
               <string> degrees</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="maximum">
               <double>180.000000000000000</double>
              </property>
              <property name="value">
               <double>30.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringRadius">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="minimum">
               <double>0.010000000000000</double>
              </property>
              <property name="value">
               <double>0.100000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_42">
              <property name="text">
               <string>Radius</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_43">
              <property name="text">
               <string>Angle</string>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <spacer name="verticalSpacer_4">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
                <height>40</height>
               </size>
              </property>
             </spacer>
            </item>
           </layout>
          </widget>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_5">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>0</y>
          <width>201</width>
          <height>126</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Detect more loop closures</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
         <item row="0" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>2</number>
           </property>
           <property name="maximum">
            <double>10.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.100000000000000</double>
           </property>
           <property name="value">
            <double>0.300000000000000</double>
           </property>
          </widget>
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_29">
           <property name="text">
            <string>Radius</string>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
           <property name="suffix">
            <string> degrees</string>
           </property>
           <property name="decimals">
            <number>0</number>
           </property>
           <property name="maximum">
            <double>180.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>1.000000000000000</double>
           </property>
           <property name="value">
            <double>30.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="QLabel" name="label_30">
           <property name="text">
            <string>Angle</string>
           </property>
          </widget>
         </item>
         <item row="2" column="0">
          <widget class="QSpinBox" name="spinBox_detectMore_iterations">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>100</number>
           </property>
           <property name="value">
            <number>1</number>
           </property>
          </widget>
         </item>
         <item row="2" column="1">
          <widget class="QLabel" name="label_31">
           <property name="text">
            <string>Iterations</string>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <spacer name="verticalSpacer_5">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>20</width>
             <height>40</height>
            </size>
           </property>
          </spacer>
         </item>
        </layout>
       </widget>
       <widget class="QWidget" name="page_6">
        <property name="geometry">
         <rect>
          <x>0</x>
          <y>-57</y>
          <width>283</width>
          <height>356</height>
         </rect>
        </property>
        <attribute name="label">
         <string>Stereo correspondences</string>
        </attribute>
        <layout class="QGridLayout" name="gridLayout_13">
         <item row="2" column="0">
          <widget class="QSpinBox" name="spinBox_stereo_gfttBlockSize">
           <property name="suffix">
            <string> pixels</string>
           </property>
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="value">
            <number>3</number>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_gfttQuality">
           <property name="decimals">
            <number>4</number>
           </property>
           <property name="minimum">
            <double>0.000100000000000</double>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.001000000000000</double>
           </property>
           <property name="value">
            <double>0.010000000000000</double>
           </property>
          </widget>
         </item>
         <item row="7" column="1">
          <widget class="QLabel" name="label_59">
           <property name="text">
            <string>Optical Flow eps</string>
           </property>
          </widget>
         </item>
         <item row="2" column="1">
          <widget class="QLabel" name="label_55">
           <property name="text">
            <string>GFTT block size</string>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <widget class="QSpinBox" name="spinBox_stereo_flowWinSize">
           <property name="suffix">
            <string> pixels</string>
           </property>
           <property name="minimum">
            <number>3</number>
           </property>
           <property name="value">
            <number>16</number>
           </property>
          </widget>
         </item>
         <item row="4" column="1">
          <widget class="QLabel" name="label_56">
           <property name="text">
            <string>Optical Flow win size</string>
           </property>
          </widget>
         </item>
         <item row="5" column="0">
          <widget class="QSpinBox" name="spinBox_stereo_flowMaxLevel">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="value">
            <number>3</number>
           </property>
          </widget>
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_61">
           <property name="text">
            <string>GFTT min distance</string>
           </property>
          </widget>
         </item>
         <item row="7" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_flowEps">
           <property name="decimals">
            <number>4</number>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.010000000000000</double>
           </property>
           <property name="value">
            <double>0.010000000000000</double>
           </property>
          </widget>
         </item>
         <item row="5" column="1">
          <widget class="QLabel" name="label_57">
           <property name="text">
            <string>Optical Flow max level</string>
           </property>
          </widget>
         </item>
         <item row="6" column="1">
          <widget class="QLabel" name="label_58">
           <property name="text">
            <string>Optical Flow iterations</string>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="QLabel" name="label_54">
           <property name="text">
            <string>GFTT quality level</string>
           </property>
          </widget>
         </item>
         <item row="6" column="0">
          <widget class="QSpinBox" name="spinBox_stereo_flowIterations">
           <property name="minimum">
            <number>1</number>
           </property>
           <property name="maximum">
            <number>1000</number>
           </property>
           <property name="value">
            <number>30</number>
           </property>
          </widget>
         </item>
         <item row="8" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_maxSlope">
           <property name="decimals">
            <number>2</number>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.010000000000000</double>
           </property>
           <property name="value">
            <double>0.100000000000000</double>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_gfttMinDistance">
           <property name="suffix">
            <string> pixels</string>
           </property>
           <property name="decimals">
            <number>1</number>
           </property>
           <property name="value">
            <double>5.000000000000000</double>
           </property>
          </widget>
         </item>
         <item row="9" column="1">
          <widget class="QLabel" name="label_62">
           <property name="text">
            <string>Sub pixel</string>
           </property>
          </widget>
         </item>
         <item row="8" column="1">
          <widget class="QLabel" name="label_60">
           <property name="text">
            <string>Matches max slope</string>
           </property>
          </widget>
         </item>
         <item row="10" column="1">
          <spacer name="verticalSpacer_6">
           <property name="orientation">
            <enum>Qt::Vertical</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>20</width>
             <height>40</height>
            </size>
           </property>
          </spacer>
         </item>
         <item row="9" column="0">
          <widget class="QCheckBox" name="checkBox_stereo_subpix">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="3" column="1">
          <widget class="QLabel" name="label_70">
           <property name="text">
            <string>GFTT max features</string>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <widget class="QSpinBox" name="spinBox_stereo_gfttMaxFeatures">
           <property name="suffix">
            <string/>
           </property>
           <property name="minimum">
            <number>0</number>
           </property>
           <property name="maximum">
            <number>99999</number>
           </property>
           <property name="singleStep">
            <number>100</number>
           </property>
           <property name="value">
            <number>0</number>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
      </widget>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_stereoView">
   <property name="windowTitle">
    <string>Stereo view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_5">
    <layout class="QVBoxLayout" name="verticalLayout_11" stretch="1,0">
     <property name="spacing">
      <number>0</number>
     </property>
     <property name="margin">
      <number>0</number>
     </property>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_9" stretch="1,1">
       <item>
        <widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
       </item>
       <item>
        <widget class="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
       </item>
      </layout>
     </item>
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout_6">
       <property name="spacing">
        <number>6</number>
       </property>
       <item>
        <widget class="QLabel" name="label_stereo_inliers_name">
         <property name="text">
          <string>Inliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_inliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_slopeOutliers_name">
         <property name="text">
          <string>Slope outliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_slopeOutliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_disparityOutliers_name">
         <property name="text">
          <string>Negative disparity outliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_disparityOutliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_flowOutliers_name">
         <property name="text">
          <string>Flow outliers:</string>
         </property>
         <property name="textFormat">
          <enum>Qt::RichText</enum>
         </property>
        </widget>
       </item>
       <item>
        <widget class="QLabel" name="label_stereo_flowOutliers">
         <property name="text">
          <string>0</string>
         </property>
        </widget>
       </item>
       <item>
        <spacer name="horizontalSpacer_2">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>40</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_view3d">
   <property name="windowTitle">
    <string>3D view</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>4</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_6">
    <layout class="QHBoxLayout" name="horizontalLayout_8" stretch="1,1">
     <item>
      <widget class="rtabmap::CloudViewer" name="widget_cloudA" native="true"/>
     </item>
     <item>
      <widget class="rtabmap::CloudViewer" name="widget_cloudB" native="true"/>
     </item>
    </layout>
   </widget>
  </widget>
  <widget class="QDockWidget" name="dockWidget_info">
   <property name="windowTitle">
    <string>Info</string>
   </property>
   <attribute name="dockWidgetArea">
    <number>2</number>
   </attribute>
   <widget class="QWidget" name="dockWidgetContents_4">
    <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0">
     <item>
      <widget class="QTextEdit" name="textEdit_info">
       <property name="lineWrapMode">
        <enum>QTextEdit::NoWrap</enum>
       </property>
       <property name="readOnly">
        <bool>true</bool>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
  </widget>
  <action name="actionOpen_database">
   <property name="text">
    <string>Open database</string>
   </property>
  </action>
  <action name="actionQuit">
   <property name="text">
    <string>Quit</string>
   </property>
  </action>
  <action name="actionGenerate_graph_dot">
   <property name="text">
    <string>Generate graph (*.dot) ...</string>
   </property>
  </action>
  <action name="actionGenerate_graph_only_weighted_locations">
   <property name="text">
    <string>Generate graph (only weighted locations) ...</string>
   </property>
  </action>
  <action name="actionClean_database">
   <property name="text">
    <string>Clean database</string>
   </property>
  </action>
  <action name="actionGenerate_local_graph_dot">
   <property name="text">
    <string>Generate local graph (.dot) ...</string>
   </property>
  </action>
  <action name="actionClean_local_graph">
   <property name="text">
    <string>Clean local graph ...</string>
   </property>
  </action>
  <action name="actionUpdate_base_ids">
   <property name="text">
    <string>Update base ids</string>
   </property>
  </action>
  <action name="actionGenerate_3D_map_pcd">
   <property name="text">
    <string>Export 3D map (*.ply *.pcd) ...</string>
   </property>
  </action>
  <action name="actionExport">
   <property name="text">
    <string>Export database...</string>
   </property>
  </action>
  <action name="actionExtract_images">
   <property name="text">
    <string>Extract images...</string>
   </property>
  </action>
  <action name="actionView_3D_map">
   <property name="text">
    <string>View 3D map...</string>
   </property>
  </action>
  <action name="actionGenerate_TORO_graph_graph">
   <property name="text">
    <string>Generate TORO graph (*.graph)...</string>
   </property>
  </action>
  <action name="actionRefine_all_neighbor_links">
   <property name="text">
    <string>ICP: Refine all neighbor links...</string>
   </property>
  </action>
  <action name="actionRefine_all_loop_closure_links">
   <property name="text">
    <string>ICP: Refine all loop closure links...</string>
   </property>
  </action>
  <action name="actionDetect_more_loop_closures">
   <property name="text">
    <string>Detect more loop closures...</string>
   </property>
  </action>
  <action name="actionVisual_Refine_all_neighbor_links">
   <property name="text">
    <string>Visual: Refine all neighbor links...</string>
   </property>
  </action>
  <action name="actionVisual_Refine_all_loop_closure_links">
   <property name="text">
    <string>Visual: Refine all loop closure links...</string>
   </property>
  </action>
  <action name="actionSave_config">
   <property name="text">
    <string>Save config</string>
   </property>
  </action>
  <action name="actionReset_all_changes">
   <property name="text">
    <string>Reset all changes</string>
   </property>
  </action>
  <action name="actionGenerate_g2o_graph_g2o">
   <property name="text">
    <string>Generate g2o graph (*.g2o)...</string>
   </property>
  </action>
  <action name="actionView_3D_laser_scans">
   <property name="text">
    <string>View 3D laser scans...</string>
   </property>
  </action>
  <action name="actionExport_3D_laser_scans_ply_pcd">
   <property name="text">
    <string>Export 3D laser scans (*.ply *.pcd) ...</string>
   </property>
  </action>
 </widget>
 <customwidgets>
  <customwidget>
   <class>rtabmap::CloudViewer</class>
   <extends>QWidget</extends>
   <header>rtabmap/gui/CloudViewer.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
   <class>rtabmap::ImageView</class>
   <extends>QWidget</extends>
   <header>rtabmap/gui/ImageView.h</header>
  </customwidget>
  <customwidget>
   <class>rtabmap::GraphViewer</class>
   <extends>QGraphicsView</extends>
   <header>rtabmap/gui/GraphViewer.h</header>
  </customwidget>
 </customwidgets>
 <resources/>
 <connections/>
</ui>