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<?xml version="1.0" encoding="UTF-8"?>
<ui version= "4.0" >
<class> preferencesDialog</class>
<widget class= "QDialog" name= "preferencesDialog" >
<property name= "geometry" >
<rect>
<x> 0</x>
<y> 0</y>
<width> 892</width>
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<height> 796</height>
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</rect>
</property>
<property name= "sizePolicy" >
<sizepolicy hsizetype= "Minimum" vsizetype= "Minimum" >
<horstretch> 0</horstretch>
<verstretch> 0</verstretch>
</sizepolicy>
</property>
<property name= "windowTitle" >
<string> Preferences</string>
</property>
<property name= "windowIcon" >
<iconset resource= "../GuiLib.qrc" >
<normaloff> :/images/RTAB-Map.ico</normaloff> :/images/RTAB-Map.ico</iconset>
</property>
<layout class= "QVBoxLayout" name= "verticalLayout_18" stretch= "0,0" >
<property name= "spacing" >
<number> 0</number>
</property>
<property name= "margin" >
<number> 0</number>
</property>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout" >
<item>
<widget class= "QTreeView" name= "treeView" >
<property name= "minimumSize" >
<size>
<width> 180</width>
<height> 0</height>
</size>
</property>
<property name= "editTriggers" >
<set> QAbstractItemView::NoEditTriggers</set>
</property>
<attribute name= "headerVisible" >
<bool> false</bool>
</attribute>
</widget>
</item>
<item>
<layout class= "QVBoxLayout" name= "verticalLayout_2" >
<property name= "spacing" >
<number> 6</number>
</property>
<item>
<widget class= "QStackedWidget" name= "stackedWidget" >
<property name= "maximumSize" >
<size>
<width> 600</width>
<height> 16777215</height>
</size>
</property>
<property name= "frameShadow" >
<enum> QFrame::Raised</enum>
</property>
<property name= "currentIndex" >
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<number> 4</number>
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</property>
<widget class= "QWidget" name= "page_22" >
<layout class= "QVBoxLayout" name= "verticalLayout_29" >
<item>
<widget class= "QGroupBox" name= "groupBox_generalSettingsGui" >
<property name= "title" >
<string> 0General settings (GUI)</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_23" columnstretch= "0,0,10" >
<item row= "0" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_imagesKept" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "0" column= "2" >
<widget class= "QLabel" name= "label_59" >
<property name= "text" >
<string> Keep images received. Used to show the loop closure image. (The cache can be cleared with the related action in the Edit menu)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QComboBox" name= "comboBox_loggerLevel" >
<property name= "currentIndex" >
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<number> 2</number>
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</property>
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</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 row= "1" column= "2" >
<widget class= "QLabel" name= "label_60" >
<property name= "text" >
<string> Logger level</string>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QCheckBox" name= "checkBox_logger_printTime" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "2" >
<widget class= "QLabel" name= "label_67" >
<property name= "text" >
<string> Logger print time</string>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QComboBox" name= "comboBox_loggerType" >
<property name= "currentIndex" >
<number> 2</number>
</property>
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</property>
<item>
<property name= "text" >
<string> No log</string>
</property>
</item>
<item>
<property name= "text" >
<string> Console</string>
</property>
</item>
<item>
<property name= "text" >
<string> File</string>
</property>
</item>
</widget>
</item>
<item row= "5" column= "2" >
<widget class= "QLabel" name= "label_68" >
<property name= "text" >
<string> Logger type:
when using the file type, logs are saved in Logrtabmap.txt (located in the working directory)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "7" column= "0" >
<widget class= "QCheckBox" name= "checkBox_verticalLayoutUsed" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "7" column= "2" >
<widget class= "QLabel" name= "label_70" >
<property name= "text" >
<string> Vertical layout used for the main window </string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "9" column= "0" >
<widget class= "QCheckBox" name= "checkBox_imageRejectedShown" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "9" column= "2" >
<widget class= "QLabel" name= "label_73" >
<property name= "text" >
<string> Show image when an hypothesis is rejected</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "8" column= "2" >
<widget class= "QLabel" name= "label_80" >
<property name= "text" >
<string> Flip image (as like a mirror)</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "8" column= "0" >
<widget class= "QCheckBox" name= "checkBox_imageFlipped" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "2" column= "2" >
<widget class= "QLabel" name= "label_61" >
<property name= "text" >
<string> Logger event sent level (fatal messages are always sent)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QComboBox" name= "comboBox_loggerEventLevel" >
<property name= "currentIndex" >
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<number> 3</number>
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</property>
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</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 row= "3" column= "2" >
<widget class= "QLabel" name= "label_62" >
<property name= "text" >
<string> Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QComboBox" name= "comboBox_loggerPauseLevel" >
<property name= "currentIndex" >
<number> 4</number>
</property>
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</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>
<item>
<property name= "text" >
<string> FATAL</string>
</property>
</item>
</widget>
</item>
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<item row= "11" column= "2" >
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<widget class= "QLabel" name= "label_88" >
<property name= "text" >
<string> Beep! on special events (finished processing the data set, an error has occured, ...)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "11" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_beep" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
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<item row= "12" column= "0" >
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<widget class= "QSlider" name= "horizontalSlider_keypointsOpacity" >
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 100</number>
</property>
<property name= "sliderPosition" >
<number> 16</number>
</property>
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
</widget>
</item>
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<item row= "12" column= "2" >
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<widget class= "QLabel" name= "label_102" >
<property name= "text" >
<string> Keypoints opacity</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "10" column= "2" >
<widget class= "QLabel" name= "label_105" >
<property name= "text" >
<string> Show the image of the highest hypothesis</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "10" column= "0" >
<widget class= "QCheckBox" name= "checkBox_imageHighestHypShown" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<widget class= "QGroupBox" name= "groupBox_2" >
<property name= "title" >
<string> Save/load configurations</string>
</property>
<layout class= "QVBoxLayout" name= "verticalLayout_9" >
<item>
<widget class= "QPushButton" name= "pushButton_saveConfig" >
<property name= "text" >
<string> Save all configurations to ...</string>
</property>
</widget>
</item>
<item>
<widget class= "QPushButton" name= "pushButton_loadConfig" >
<property name= "text" >
<string> Load all configurations from ...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_24" >
<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_4" >
<layout class= "QVBoxLayout" name= "verticalLayout_7" >
<item>
<widget class= "QGroupBox" name= "groupBox_11" >
<property name= "title" >
<string> 0Source</string>
</property>
<layout class= "QVBoxLayout" name= "verticalLayout_5" >
<item>
<layout class= "QGridLayout" name= "gridLayout_5" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QComboBox" name= "source_comboBox_type" >
<property name= "currentIndex" >
<number> 0</number>
</property>
<item>
<property name= "text" >
<string> Usb device (Webcam)</string>
</property>
</item>
<item>
<property name= "text" >
<string> Images (ex. 1.jpg, 2.jpg...)</string>
</property>
</item>
<item>
<property name= "text" >
<string> Video file (AVI)</string>
</property>
</item>
<item>
<property name= "text" >
<string> Database</string>
</property>
</item>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_20" >
<property name= "text" >
<string> Source type</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_imgRate" >
<property name= "decimals" >
<number> 1</number>
</property>
<property name= "maximum" >
<double> 100.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.100000000000000</double>
</property>
<property name= "value" >
<double> 1.000000000000000</double>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_2" >
<property name= "text" >
<string> Image rate (img/s)</string>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_autoRestart" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_6" >
<property name= "text" >
<string> Auto restart</string>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_10" >
<property name= "text" >
<string> Image width (set to 0 to use the default size of the source)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_11" >
<property name= "text" >
<string> Image height (set to 0 to use the default size of the source)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QSpinBox" name= "source_spinBox_imgWidth" >
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 999999999</number>
</property>
<property name= "singleStep" >
<number> 160</number>
</property>
<property name= "value" >
<number> 0</number>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QSpinBox" name= "source_spinBox_imgheight" >
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 999999999</number>
</property>
<property name= "singleStep" >
<number> 120</number>
</property>
<property name= "value" >
<number> 0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QStackedWidget" name= "stackedWidget_2" >
<property name= "currentIndex" >
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<number> 0</number>
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</property>
<widget class= "QWidget" name= "page_7" >
<layout class= "QVBoxLayout" name= "verticalLayout_30" >
<item>
<widget class= "QGroupBox" name= "source_groupBox_usbDevice" >
<property name= "title" >
<string> Usb device</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_6" columnstretch= "0,0" >
<item row= "0" column= "0" >
<widget class= "QSpinBox" name= "source_usbDevice_spinBox_id" >
<property name= "minimum" >
<number> -1</number>
</property>
<property name= "maximum" >
<number> 999999999</number>
</property>
<property name= "value" >
<number> 0</number>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_38" >
<property name= "text" >
<string> Usb device</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_8" >
<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_5" >
<layout class= "QVBoxLayout" name= "verticalLayout_6" >
<item>
<widget class= "QGroupBox" name= "source_groupBox_images" >
<property name= "title" >
<string> Images dataset</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_7" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QToolButton" name= "source_images_toolButton_selectSource" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLineEdit" name= "source_images_lineEdit_path" >
<property name= "readOnly" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QSpinBox" name= "source_images_spinBox_startPos" >
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 999999999</number>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_21" >
<property name= "text" >
<string> Start position (default 1, 0=start from the last)</string>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QCheckBox" name= "source_images_refreshDir" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_34" >
<property name= "text" >
<string> Refresh the directory files list after each image loaded</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_9" >
<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" >
<layout class= "QVBoxLayout" name= "verticalLayout_8" >
<item>
<widget class= "QGroupBox" name= "source_groupBox_video" >
<property name= "title" >
<string> Video (AVI)</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_8" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QToolButton" name= "source_video_toolButton_selectSource" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLineEdit" name= "source_video_lineEdit_path" >
<property name= "readOnly" >
<bool> false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_10" >
<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_10" >
<layout class= "QVBoxLayout" name= "verticalLayout_16" >
<item>
<widget class= "QGroupBox" name= "source_groupBox_video_2" >
<property name= "title" >
<string> Database (Sqlite3)</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_9" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QToolButton" name= "source_database_toolButton_selectSource" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLineEdit" name= "source_database_lineEdit_path" >
<property name= "readOnly" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "source_database_checkBox_ignoreChildren" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_7" >
<property name= "text" >
<string> Ignore children signatures</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_11" >
<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>
</item>
<item>
<spacer name= "verticalSpacer_7" >
<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" >
<layout class= "QVBoxLayout" name= "verticalLayout_15" >
<item>
<widget class= "QGroupBox" name= "groupBox" >
<property name= "title" >
<string> 0RTAB-Map settings</string>
</property>
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<layout class= "QGridLayout" name= "gridLayout_4" columnstretch= "1,0,0" >
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<item row= "0" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_publishStats" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "0" column= "2" >
<widget class= "QLabel" name= "label_35" >
<property name= "text" >
<string> Publish statistics</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_timeThr" >
<property name= "maximum" >
<double> 10.000000000000000</double>
</property>
<property name= "value" >
<double> 1.000000000000000</double>
</property>
</widget>
</item>
<item row= "1" column= "2" >
<widget class= "QLabel" name= "label_18" >
<property name= "text" >
<string> Max time allowed (sec)</string>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QSpinBox" name= "general_spinBox_imagesBufferSize" >
<property name= "maximum" >
<number> 999</number>
</property>
<property name= "value" >
<number> 1</number>
</property>
</widget>
</item>
<item row= "2" column= "2" >
<widget class= "QLabel" name= "label_84" >
<property name= "text" >
<string> Images buffer size (0 means inf)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QSpinBox" name= "general_spinBox_minMemorySizeForLoopDetection" >
<property name= "maximum" >
<number> 999</number>
</property>
<property name= "singleStep" >
<number> 1</number>
</property>
<property name= "value" >
<number> 30</number>
</property>
</widget>
</item>
<item row= "3" column= "2" >
<widget class= "QLabel" name= "label_89" >
<property name= "text" >
<string> Minimum size of the working memory to create loop closure hypotheses</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_hardThr" >
<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.950000000000000</double>
</property>
</widget>
</item>
<item row= "4" column= "2" >
<widget class= "QLabel" name= "label_93" >
<property name= "text" >
<string> Loop closure threshold</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "5" column= "2" >
<widget class= "QLabel" name= "label_96" >
<property name= "text" >
<string> The loop closure hypothesis must be over LoopRatio x lastHypothesisValue</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_loopRatio" >
<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.700000000000000</double>
</property>
</widget>
</item>
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<item row= "10" column= "0" >
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<widget class= "QLineEdit" name= "lineEdit_workingDirectory" >
<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "10" column= "2" >
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<widget class= "QLabel" name= "label_87" >
<property name= "text" >
<string> Working directory (where the database is saved/loaded)</string>
</property>
</widget>
</item>
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<item row= "10" column= "1" >
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<widget class= "QToolButton" name= "toolButton_workingDirectory" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QSpinBox" name= "general_spinBox_maxRetrieved" >
<property name= "maximum" >
<number> 999</number>
</property>
<property name= "singleStep" >
<number> 1</number>
</property>
<property name= "value" >
<number> 2</number>
</property>
</widget>
</item>
<item row= "6" column= "2" >
<widget class= "QLabel" name= "label_103" >
<property name= "text" >
<string> Maximum locations retrieved at the same time from LTM to WM.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "7" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_actionsByTime" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "7" column= "2" >
<widget class= "QLabel" name= "label_39" >
<property name= "text" >
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<string> Select next actions using directly the more recent neighbor of the current node, otherwise, highest hypothesis is used</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "8" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_actionsSentRejectHyp" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "8" column= "2" >
<widget class= "QLabel" name= "label_40" >
<property name= "text" >
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<string> Actions sent also on rejected hypotheses</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "9" column= "2" >
<widget class= "QLabel" name= "label_52" >
<property name= "text" >
<string> Actions are not sent when the loop closure hypothesis is under the confidence threshold</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "9" column= "0" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_confidenceThr" >
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<property name= "decimals" >
<number> 3</number>
</property>
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<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.000000000000000</double>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<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>
<widget class= "QWidget" name= "page_23" >
<layout class= "QVBoxLayout" name= "verticalLayout_27" >
<item>
<widget class= "QGroupBox" name= "groupBox_4" >
<property name= "title" >
<string> 1Bayes filter</string>
</property>
<layout class= "QVBoxLayout" name= "verticalLayout_31" >
<item>
<widget class= "QLabel" name= "label_76" >
<property name= "minimumSize" >
<size>
<width> 0</width>
<height> 100</height>
</size>
</property>
<property name= "text" >
<string> Prediction probabilities for each loop closure event:
We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. The values of the sliders are in %. LC is the loop closure event. +- values are the probabilities to be at one of the neighbours of the LC after a loop closure on LC. VP (virtual place) is the probability to be in a new place since a loop closure was found on the last iteration.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_3" >
<item>
<layout class= "QVBoxLayout" name= "verticalLayout_35" >
<item>
<widget class= "QLabel" name= "label_69" >
<property name= "text" >
<string> VP</string>
</property>
<property name= "alignment" >
<set> Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_5" >
<item>
<widget class= "QSlider" name= "verticalSlider_prediction_vp" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QLabel" name= "label_prediction_vp" >
<property name= "text" >
<string> 0</string>
</property>
<property name= "alignment" >
<set> Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QScrollArea" name= "scrollArea" >
<property name= "minimumSize" >
<size>
<width> 0</width>
<height> 50</height>
</size>
</property>
<property name= "widgetResizable" >
<bool> true</bool>
</property>
<widget class= "QWidget" name= "scrollAreaWidgetContents" >
<property name= "geometry" >
<rect>
<x> 0</x>
<y> 0</y>
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<width> 508</width>
<height> 138</height>
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</rect>
</property>
<layout class= "QHBoxLayout" name= "horizontalLayout_2" >
<property name= "spacing" >
<number> 0</number>
</property>
<property name= "margin" >
<number> 0</number>
</property>
<item>
<spacer name= "horizontalSpacer_2" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 141</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_prior_NM" />
</item>
<item>
<layout class= "QVBoxLayout" name= "verticalLayout_28" >
<item>
<widget class= "QLabel" name= "label_64" >
<property name= "text" >
<string> LC</string>
</property>
<property name= "alignment" >
<set> Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_4" >
<item>
<widget class= "QSlider" name= "verticalSlider_prediction_lp" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QLabel" name= "label_prediction_lp" >
<property name= "text" >
<string> 0</string>
</property>
<property name= "alignment" >
<set> Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_prior_NP" />
</item>
<item>
<spacer name= "horizontalSpacer_3" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 141</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</item>
<item>
<layout class= "QFormLayout" name= "formLayout_18" >
<property name= "fieldGrowthPolicy" >
<enum> QFormLayout::ExpandingFieldsGrow</enum>
</property>
<item row= "0" column= "0" >
<widget class= "QLabel" name= "label_14" >
<property name= "text" >
<string> Neighbors</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QSpinBox" name= "spinBox_bayes_neighbors" >
<property name= "maximum" >
<number> 9</number>
</property>
<property name= "value" >
<number> 2</number>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QLabel" name= "label_65" >
<property name= "text" >
<string> Prediction</string>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLineEdit" name= "lineEdit_bayes_predictionLC" >
<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QLabel" name= "label_66" >
<property name= "text" >
<string> Sum</string>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_prediction_sum" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QLabel" name= "label_63" >
<property name= "text" >
<string> Preview</string>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "rtabmap::Plot" name= "predictionPlot" native= "true" >
<property name= "minimumSize" >
<size>
<width> 100</width>
<height> 100</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QLabel" name= "label_90" >
<property name= "text" >
<string> Prediction probability for the no loop closure event:
The VP here is the probability to be in a new place since no loop closure was found on the last iteration.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<layout class= "QFormLayout" name= "formLayout_26" >
<item row= "0" column= "0" >
<widget class= "QLabel" name= "label_91" >
<property name= "text" >
<string> Virtual place prior</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_vp" >
<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.800000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QLabel" name= "label_92" >
<property name= "text" >
<string> (NOTE) If you want to use the virtual place (VP) probability, the option " Common signature used" in the Memory panel must be set to true (this will update the common signature representing the virtual place)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_5" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class= "QWidget" name= "page_3" >
<layout class= "QVBoxLayout" name= "verticalLayout_4" >
<item>
<widget class= "QGroupBox" name= "groupBox_10" >
<property name= "title" >
<string> 1Memory strategy</string>
</property>
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<layout class= "QGridLayout" name= "gridLayout_10" columnstretch= "0,0" >
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<item row= "0" column= "0" >
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<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_retrievalThr" >
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<property name= "minimumSize" >
<size>
<width> 50</width>
<height> 0</height>
</size>
</property>
<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.150000000000000</double>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_31" >
<property name= "text" >
<string> Retrieval threshold</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_reactivatedWordsComparedToNewWords" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
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<item row= "1" column= "1" >
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<widget class= "QLabel" name= "label_79" >
<property name= "text" >
<string> Retrieved words are compared to the last words added in the dictionary (which are not yet indexed, may be add a time overhead for a minor likelihood improvement)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "3" column= "0" >
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<widget class= "QSpinBox" name= "general_spinBox_maxStMemSize" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 9999</number>
</property>
<property name= "value" >
<number> 15</number>
</property>
</widget>
</item>
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<item row= "3" column= "1" >
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<widget class= "QLabel" name= "label_29" >
<property name= "text" >
<string> Short-time memory size</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "4" column= "0" >
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<widget class= "QCheckBox" name= "general_checkBox_incrementalMemory" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "4" column= "1" >
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<widget class= "QLabel" name= "label_57" >
<property name= "text" >
<string> Incremental Memory</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "5" column= "0" >
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<widget class= "QCheckBox" name= "general_checkBox_commonSignatureUsed" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "5" column= "1" >
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<widget class= "QLabel" name= "label_83" >
<property name= "text" >
<string> Common signature used (virtual place)</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "6" column= "1" >
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<widget class= "QLabel" name= "label_37" >
<property name= "text" >
<string> (iterations) Delay required to transfer a signature to the database</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "6" column= "0" >
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<widget class= "QSpinBox" name= "mem_spinBox_delayRequired" >
<property name= "minimumSize" >
<size>
<width> 50</width>
<height> 0</height>
</size>
</property>
</widget>
</item>
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<item row= "2" column= "1" >
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<widget class= "QLabel" name= "label_177" >
<property name= "text" >
<string> Clean the neighborhood of the retrieved id</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "2" column= "0" >
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<widget class= "QCheckBox" name= "general_checkBox_localGraphCleaned" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "7" column= "0" >
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<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_recentWmRatio" >
<property name= "minimumSize" >
<size>
<width> 50</width>
<height> 0</height>
</size>
</property>
<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.200000000000000</double>
</property>
</widget>
</item>
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<item row= "7" column= "1" >
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<widget class= "QLabel" name= "label_33" >
<property name= "text" >
<string> Ratio of locations after the last loop closure in WM that cannot be transferred</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<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>
</layout>
</widget>
<widget class= "QWidget" name= "page_24" >
<layout class= "QVBoxLayout" name= "verticalLayout_33" >
<item>
<widget class= "QGroupBox" name= "groupBox_12" >
<property name= "title" >
<string> 2Database</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_11" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_keepRawData" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_85" >
<property name= "text" >
<string> Keep raw data (images) </string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_databaseCleaned" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QSpinBox" name= "spinBox_dbMinSignToSave" >
<property name= "maximum" >
<number> 999</number>
</property>
<property name= "value" >
<number> 20</number>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QSpinBox" name= "spinBox_dbMinWordsToSave" >
<property name= "maximum" >
<number> 9999</number>
</property>
<property name= "singleStep" >
<number> 10</number>
</property>
<property name= "value" >
<number> 200</number>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QCheckBox" name= "checkBox_dbInMemory" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QSpinBox" name= "spinBox_dbCacheSize" >
<property name= "minimum" >
<number> 10</number>
</property>
<property name= "maximum" >
<number> 999999</number>
</property>
<property name= "singleStep" >
<number> 100</number>
</property>
<property name= "value" >
<number> 2000</number>
</property>
</widget>
</item>
<item row= "5" column= "1" >
<widget class= "QLabel" name= "label_75" >
<property name= "text" >
<string> Sqlite3 cache size,
see Sqlite3 doc 'PRAGMA cache_size'</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QComboBox" name= "comboBox_dbJournalMode" >
<item>
<property name= "text" >
<string> DELETE</string>
</property>
</item>
<item>
<property name= "text" >
<string> TRUNCATE</string>
</property>
</item>
<item>
<property name= "text" >
<string> PERSIST</string>
</property>
</item>
<item>
<property name= "text" >
<string> MEMORY</string>
</property>
</item>
<item>
<property name= "text" >
<string> OFF</string>
</property>
</item>
</widget>
</item>
<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_77" >
<property name= "text" >
<string> Sqlite3 journal mode,
see Sqlite3 doc 'PRAGMA journal_mode'</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_74" >
<property name= "text" >
<string> Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_72" >
<property name= "text" >
<string> (KeypointMemory) Minimum visual words needed in the trash to save them. The trash thread will save in a chunk instead of small database queries.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_71" >
<property name= "text" >
<string> Minimum signatures needed in the trash to save them. The trash thread will save in a chunk instead of small database queries.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_86" >
<property name= "text" >
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<string> Database auto cleaning : don't save signature with a loop closure (only keeping the newest one).</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_12" >
<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_2" >
<layout class= "QVBoxLayout" name= "verticalLayout" >
<item>
<widget class= "QGroupBox" name= "groupBox_9" >
<property name= "title" >
<string> 2Rehearsal</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_12" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QDoubleSpinBox" name= "general_doubleSpinBox_similarityThr" >
<property name= "maximum" >
<double> 1.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.500000000000000</double>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_16" >
<property name= "text" >
<string> Similarity threshold (set to 1 to disable rehearsal)</string>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_17" >
<property name= "text" >
<string> Only compare to the last signature in STM, otherwise all signatures in STM are compared.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "general_checkBox_similarityOnlyLast" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_13" >
<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_9" >
<layout class= "QVBoxLayout" name= "verticalLayout_58" >
<item>
<widget class= "QGroupBox" name= "groupBox_signature_keypoint" >
<property name= "title" >
<string> 1Signature</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_14" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QSpinBox" name= "surf_spinBox_wordsPerImageTarget" >
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 2000</number>
</property>
<property name= "value" >
<number> 150</number>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_22" >
<property name= "toolTip" >
<string> 0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name= "text" >
<string> Words per image target</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QDoubleSpinBox" name= "surf_doubleSpinBox_ratioBadSign" >
<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= "singleStep" >
<double> 0.050000000000000</double>
</property>
<property name= "value" >
<double> 0.250000000000000</double>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_81" >
<property name= "toolTip" >
<string> 0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name= "text" >
<string> Bad signature ratio (less than Ratio x AverageWordsPerImage = bad)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QCheckBox" name= "checkBox_kp_usingAdaptiveResponseThr" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_54" >
<property name= "text" >
<string> Use adaptive response threshold</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QComboBox" name= "comboBox_detector_strategy" >
<item>
<property name= "text" >
<string> SURF</string>
</property>
</item>
<item>
<property name= "text" >
<string> Star</string>
</property>
</item>
<item>
<property name= "text" >
<string> SIFT</string>
</property>
</item>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_117" >
<property name= "text" >
<string> Keypoint detector</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QComboBox" name= "comboBox_descriptor_strategy" >
<item>
<property name= "text" >
<string> SURF</string>
</property>
</item>
<item>
<property name= "text" >
<string> Color+SURF</string>
</property>
</item>
<item>
<property name= "text" >
<string> Laplacian+SURF</string>
</property>
</item>
<item>
<property name= "text" >
<string> SIFT</string>
</property>
</item>
<item>
<property name= "text" >
<string> Hue+SURF</string>
</property>
</item>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_24" >
<property name= "text" >
<string> Keypoint descriptor</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QCheckBox" name= "checkBox_kp_tfIdfLikelihoodUsed" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "5" column= "1" >
<widget class= "QLabel" name= "label_82" >
<property name= "text" >
<string> Use the tf-idf method to compute the likelihood</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "7" column= "0" >
<widget class= "QCheckBox" name= "checkBox_kp_parallelized" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "7" column= "1" >
<widget class= "QLabel" name= "label_94" >
<property name= "text" >
<string> If the dictionary update and signature creation were parallelized</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "10" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_kp_roi0" >
<property name= "suffix" >
<string> %</string>
</property>
<property name= "decimals" >
<number> 0</number>
</property>
</widget>
</item>
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<item row= "10" column= "1" >
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<widget class= "QLabel" name= "label_97" >
<property name= "text" >
<string> Left ROI ratio (0 = no change)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "11" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_kp_roi1" >
<property name= "suffix" >
<string> %</string>
</property>
<property name= "decimals" >
<number> 0</number>
</property>
</widget>
</item>
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<item row= "12" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_kp_roi2" >
<property name= "suffix" >
<string> %</string>
</property>
<property name= "decimals" >
<number> 0</number>
</property>
</widget>
</item>
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<item row= "13" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_kp_roi3" >
<property name= "suffix" >
<string> %</string>
</property>
<property name= "decimals" >
<number> 0</number>
</property>
</widget>
</item>
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<item row= "11" column= "1" >
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<widget class= "QLabel" name= "label_98" >
<property name= "text" >
<string> Right ROI ratio (0 = no change)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "12" column= "1" >
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<widget class= "QLabel" name= "label_99" >
<property name= "text" >
<string> Top ROI ratio (0 = no change)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "13" column= "1" >
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<widget class= "QLabel" name= "label_100" >
<property name= "text" >
<string> Bottom ROI ratio (0 = no change)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "9" column= "0" >
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<widget class= "QLineEdit" name= "lineEdit_kp_roi" >
<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "9" column= "1" >
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<widget class= "QLabel" name= "label_101" >
<property name= "text" >
<string> ROI ratios [left, right, top, bottom]</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_104" >
<property name= "text" >
<string> If tf-idf weighting is normalized by the words count ratio between compared signatures</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QCheckBox" name= "checkBox_kp_tfIdfNormalized" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "8" column= "1" >
<widget class= "QLabel" name= "label_106" >
<property name= "text" >
<string> If using only sensors state (without actuators) for the sensorimotor state nearest neighbor computation</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "8" column= "0" >
<widget class= "QCheckBox" name= "checkBox_kp_sensorStateOnly" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_15" >
<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_11" >
<layout class= "QVBoxLayout" name= "verticalLayout_10" >
<item>
<widget class= "QGroupBox" name= "groupBox_detector_surf" >
<property name= "title" >
<string> 2SURF detector</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_15" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QDoubleSpinBox" name= "surf_doubleSpinBox_hessianThr" >
<property name= "decimals" >
<number> 0</number>
</property>
<property name= "maximum" >
<double> 50000.000000000000000</double>
</property>
<property name= "value" >
<double> 500.000000000000000</double>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_4" >
<property name= "text" >
<string> Hessian threshold</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QSpinBox" name= "surf_spinBox_octaves" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 4</number>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_26" >
<property name= "text" >
<string> Octaves</string>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QSpinBox" name= "surf_spinBox_octaveLayers" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 2</number>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_41" >
<property name= "text" >
<string> Octave layers</string>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QCheckBox" name= "surf_checkBox_gpuVersion" >
<property name= "enabled" >
<bool> true</bool>
</property>
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_48" >
<property name= "text" >
<string> GPU version (as well for descriptor) - OpenCV must be compiled with CUDA from NVidia, otherwise, the application may crash if set.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QCheckBox" name= "surf_checkBox_upright" >
<property name= "enabled" >
<bool> true</bool>
</property>
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_49" >
<property name= "text" >
<string> U-SURF used (only with GPU version)</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_16" >
<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_12" >
<layout class= "QVBoxLayout" name= "verticalLayout_11" >
<item>
<widget class= "QGroupBox" name= "groupBox_detector_star" >
<property name= "title" >
<string> 2Star detector</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_16" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QSpinBox" name= "star_spinBox_maxSize" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 128</number>
</property>
<property name= "value" >
<number> 45</number>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_45" >
<property name= "text" >
<string> Maximum size</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QSpinBox" name= "star_spinBox_responseThr" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 30</number>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_42" >
<property name= "text" >
<string> Response threshold</string>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QSpinBox" name= "star_spinBox_lineThrProj" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 10</number>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_43" >
<property name= "text" >
<string> Line threshold projected</string>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QSpinBox" name= "star_spinBox_lineThrBin" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 8</number>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_44" >
<property name= "text" >
<string> Line threshold binarized</string>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QSpinBox" name= "star_spinBox_suppressNonmaxSize" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 5</number>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_46" >
<property name= "text" >
<string> Suppress Nonmax size</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_17" >
<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_8" >
<layout class= "QVBoxLayout" name= "verticalLayout_3" >
<item>
<widget class= "QGroupBox" name= "groupBox_detector_sift" >
<property name= "title" >
<string> 2SIFT detector</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_19" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QDoubleSpinBox" name= "sift_doubleSpinBox_Thr" >
<property name= "decimals" >
<number> 6</number>
</property>
<property name= "minimum" >
<double> 0.000000000000000</double>
</property>
<property name= "maximum" >
<double> 50000.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.001000000000000</double>
</property>
<property name= "value" >
<double> 0.006667000000000</double>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_5" >
<property name= "text" >
<string> Threshold</string>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_30" >
<property name= "text" >
<string> Edge threshold</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QDoubleSpinBox" name= "sift_doubleSpinBox_edgeThr" >
<property name= "singleStep" >
<double> 0.100000000000000</double>
</property>
<property name= "value" >
<double> 10.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_20" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 579</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class= "QWidget" name= "page_13" >
<layout class= "QVBoxLayout" name= "verticalLayout_17" >
<item>
<widget class= "QGroupBox" name= "groupBox_surfDescriptor" >
<property name= "title" >
<string> 2SURF descriptor</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_17" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QCheckBox" name= "checkBox_surfExtended" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_8" >
<property name= "text" >
<string> Descriptor extended (true=128, false=64)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_18" >
<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_14" >
<layout class= "QVBoxLayout" name= "verticalLayout_12" >
<item>
<widget class= "QGroupBox" name= "groupBox_dictionary_strategy" >
<property name= "title" >
<string> 2Dictionary</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_18" columnstretch= "0,0,10" >
<item row= "0" column= "0" >
<widget class= "QComboBox" name= "comboBox_dictionary_strategy" >
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</property>
<item>
<property name= "text" >
<string> Naive</string>
</property>
</item>
<item>
<property name= "text" >
<string> KdTree OpenCV</string>
</property>
</item>
<item>
<property name= "text" >
<string> KdForest FLANN</string>
</property>
</item>
</widget>
</item>
<item row= "0" column= "2" >
<widget class= "QLabel" name= "label_12" >
<property name= "text" >
<string> Nearest neighbor strategy</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "checkBox_dictionary_incremental" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "2" >
<widget class= "QLabel" name= "label_47" >
<property name= "text" >
<string> Use an incremental dictionary</string>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QDoubleSpinBox" name= "surf_doubleSpinBox_matchThr" >
<property name= "maximum" >
<double> 999.990000000000009</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.160000000000000</double>
</property>
</widget>
</item>
<item row= "4" column= "2" >
<widget class= "QLabel" name= "label_9" >
<property name= "text" >
<string> Minimum distance (for the nearest neighbor)
Lower the distance -> higher the precision</string>
</property>
<property name= "wordWrap" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QCheckBox" name= "checkBox_dictionary_nndrUsed" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QDoubleSpinBox" name= "surf_doubleSpinBox_nndrRatio" >
<property name= "maximum" >
<double> 999.990000000000009</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.700000000000000</double>
</property>
</widget>
</item>
<item row= "6" column= "2" >
<widget class= "QLabel" name= "label_78" >
<property name= "text" >
<string> NNDR ratio
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
Lower the ratio -> higher the precision</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "5" column= "2" >
<widget class= "QLabel" name= "label_23" >
<property name= "text" >
<string> Use nearest neighbor distance ratio approach (NNDR)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "2" >
<widget class= "QLabel" name= "label_32" >
<property name= "text" >
<string> Use a minimum distance for the nearest neighbor</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QCheckBox" name= "checkBox_dictionary_minDistUsed" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "7" column= "2" >
<widget class= "QLabel" name= "label_95" >
<property name= "text" >
<string> Maximum number of leafs checked (when using kd-trees)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "7" column= "0" >
<widget class= "QSpinBox" name= "surf_spinBox_maxLeafs" >
<property name= "maximum" >
<number> 1024</number>
</property>
<property name= "value" >
<number> 64</number>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QLineEdit" name= "lineEdit_dictionaryPath" />
</item>
<item row= "2" column= "1" >
<widget class= "QToolButton" name= "toolButton_dictionaryPath" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item row= "2" column= "2" >
<widget class= "QLabel" name= "label_51" >
<property name= "text" >
<string> Path to a pre-computed dictionary (when " Use an incremental dictionary" is not set)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_19" >
<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_19" >
<layout class= "QVBoxLayout" name= "verticalLayout_13" >
<item>
<widget class= "QGroupBox" name= "groupBox_vh_strategy" >
<property name= "minimumSize" >
<size>
<width> 0</width>
<height> 0</height>
</size>
</property>
<property name= "title" >
<string> 1Hypotheses verification strategies</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_3" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QComboBox" name= "comboBox_vh_strategy" >
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</property>
<item>
<property name= "text" >
<string> No verification</string>
</property>
</item>
2011-06-09 02:56:31 +00:00
<item>
<property name= "text" >
<string> Similarity</string>
</property>
</item>
2011-06-05 14:45:39 +00:00
<item>
<property name= "text" >
<string> Epipolar constraints</string>
</property>
</item>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_50" >
<property name= "text" >
<string> Hypotheses verification</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_3" >
<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>
2011-06-09 02:56:31 +00:00
<widget class= "QWidget" name= "page_15" >
<layout class= "QVBoxLayout" name= "verticalLayout_14" >
<item>
<widget class= "QGroupBox" name= "groupBox_vh_similarity" >
<property name= "title" >
<string> 2Similarity verification</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_2" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QDoubleSpinBox" name= "vh_doubleSpinBox_similarity" >
<property name= "decimals" >
<number> 2</number>
</property>
<property name= "maximum" >
<double> 0.990000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.500000000000000</double>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_55" >
<property name= "text" >
<string> Minimum similarity to accept an hypothesis</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name= "verticalSpacer_2" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 619</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2011-06-05 14:45:39 +00:00
<widget class= "QWidget" name= "page_21" >
<layout class= "QVBoxLayout" name= "verticalLayout_25" >
<item>
<widget class= "QGroupBox" name= "groupBox_vh_epipolar" >
<property name= "title" >
<string> 2Epipolar constraints</string>
</property>
<layout class= "QGridLayout" name= "gridLayout" columnstretch= "0,10" >
<item row= "0" column= "0" >
<widget class= "QSpinBox" name= "surf_spinBox_matchCountMinAccepted" >
<property name= "minimum" >
<number> 8</number>
</property>
<property name= "maximum" >
<number> 100000</number>
</property>
<property name= "value" >
<number> 11</number>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_25" >
<property name= "text" >
<string> Minimum match count to accept a loop closure</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QDoubleSpinBox" name= "surf_doubleSpinBox_ransacParam1" >
<property name= "decimals" >
<number> 1</number>
</property>
<property name= "maximum" >
<double> 10.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.100000000000000</double>
</property>
<property name= "value" >
<double> 3.000000000000000</double>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_27" >
<property name= "text" >
<string> Fundamental Matrix : Distance (pixels) for inliers</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QDoubleSpinBox" name= "surf_doubleSpinBox_ransacParam2" >
<property name= "decimals" >
<number> 2</number>
</property>
<property name= "maximum" >
<double> 0.990000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.990000000000000</double>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_28" >
<property name= "text" >
<string> Fundamental Matrix : Ransac performance</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<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>
</layout>
</widget>
</widget>
</item>
<item>
<widget class= "QDialogButtonBox" name= "buttonBox_local" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "standardButtons" >
<set> QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<widget class= "QDialogButtonBox" name= "buttonBox_global" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "standardButtons" >
<set> QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class> rtabmap::Plot</class>
<extends> QWidget</extends>
<header> Plot.h</header>
<container> 1</container>
</customwidget>
</customwidgets>
<resources>
<include location= "../GuiLib.qrc" />
</resources>
<connections>
<connection>
<sender> verticalSlider_prediction_lp</sender>
<signal> valueChanged(int)</signal>
<receiver> label_prediction_lp</receiver>
<slot> setNum(int)</slot>
<hints>
<hint type= "sourcelabel" >
<x> 508</x>
<y> 179</y>
</hint>
<hint type= "destinationlabel" >
<x> 509</x>
<y> 233</y>
</hint>
</hints>
</connection>
<connection>
<sender> verticalSlider_prediction_vp</sender>
<signal> valueChanged(int)</signal>
<receiver> label_prediction_vp</receiver>
<slot> setNum(int)</slot>
<hints>
<hint type= "sourcelabel" >
<x> 314</x>
<y> 185</y>
</hint>
<hint type= "destinationlabel" >
<x> 315</x>
<y> 241</y>
</hint>
</hints>
</connection>
</connections>
</ui>
