MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true

corelib/include/rtabmap/core/Parameters.h

@@ -490,7 +490,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Grid, MinGroundHeight,         float,  0.0,     "Minimum ground height (0=disabled).");
 	RTABMAP_PARAM(Grid, MaxGroundHeight,         float,  0.0,     uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is true.", kGridNormalsSegmentation().c_str()));
 	RTABMAP_PARAM(Grid, MaxGroundAngle,          float,  45,      uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
-	RTABMAP_PARAM(Grid, NormalK,                 int,    10,      uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
+	RTABMAP_PARAM(Grid, NormalK,                 int,    20,      uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
 	RTABMAP_PARAM(Grid, ClusterRadius,           float,  0.1,     uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
 	RTABMAP_PARAM(Grid, MinClusterSize,          int,    10,      uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
 	RTABMAP_PARAM(Grid, FlatObstacleDetected,    bool,   true,    uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
@@ -504,7 +504,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors,   int,     5,       "Noise filtering minimum neighbors.");
 	RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled,     bool,    false,   "Unknown space filled. Only used with 2D laser scans.");
 	RTABMAP_PARAM(Grid, Scan2dMaxFilledRange,         float,   4.0,     "Unknown space filled maximum range. If 0, the laser scan maximum range is used.");
-	RTABMAP_PARAM(Grid, ProjRayTracing,               bool,   false,    uFormat("[%s=false] 2D ray tracing is done for each projected obstacle, filling unknown space between the sensor and obstacles.", kGrid3D().c_str()));
+	RTABMAP_PARAM(Grid, ProjRayTracing,               bool,   true,    uFormat("[%s=false] 2D ray tracing is done for each projected obstacle, filling unknown space between the sensor and obstacles.", kGrid3D().c_str()));
 
 public:
 	virtual ~Parameters();

corelib/include/rtabmap/core/util3d.h

@@ -213,6 +213,8 @@ pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const cv::Mat & laserScan, i
 // For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
 pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const cv::Mat & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
 
+void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
+void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
 
 cv::Point3f RTABMAP_EXP projectDisparityTo3D(
 		const cv::Point2f & pt,

corelib/include/rtabmap/core/util3d_mapping.h

@@ -51,13 +51,23 @@ RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
 		bool unknownSpaceFilled = false,
 		float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
 
-void RTABMAP_EXP occupancy2DFromLaserScan(
+RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
 		const cv::Mat & scan, // in /base_link frame
 		const cv::Point3f & viewpoint, // /base_link -> /base_scan
 		cv::Mat & ground,
 		cv::Mat & obstacles,
 		float cellSize,
 		bool unknownSpaceFilled = false,
+		float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");
+
+void RTABMAP_EXP occupancy2DFromLaserScan(
+		const cv::Mat & scanHit, // in /base_link frame
+		const cv::Mat & scanNoHit, // in /base_link frame
+		const cv::Point3f & viewpoint, // /base_link -> /base_scan
+		cv::Mat & ground,
+		cv::Mat & obstacles,
+		float cellSize,
+		bool unknownSpaceFilled = false,
 		float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
 
 cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
@@ -79,7 +89,7 @@ RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform
 		float minMapSize = 0.0f,
 		float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
 
-cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
+RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
 		const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
 		const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
 		float cellSize,
@@ -87,6 +97,16 @@ cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
 		float & xMin,
 		float & yMin,
 		float minMapSize = 0.0f,
+		float scanMaxRange = 0.0f), "Use interface with cv::Mat scans.");
+
+cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
+		const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
+		const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
+		float cellSize,
+		bool unknownSpaceFilled,
+		float & xMin,
+		float & yMin,
+		float minMapSize = 0.0f,
 		float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
 
 void RTABMAP_EXP rayTrace(const cv::Point2i & start,

corelib/src/OccupancyGrid.cpp

@@ -208,6 +208,7 @@ void OccupancyGrid::createLocalMap(
 
 		util3d::occupancy2DFromLaserScan(
 				util3d::transformLaserScan(node.sensorData().laserScanRaw(), node.sensorData().laserScanInfo().localTransform()),
+				cv::Mat(),
 				viewPoint,
 				ground,
 				obstacles,
@@ -345,9 +346,12 @@ void OccupancyGrid::createLocalMap(
 					if(projRayTracing_)
 					{
 						cv::Mat laserScan = obstacles;
+						cv::Mat laserScanNoHit = ground;
 						obstacles = cv::Mat();
+						ground = cv::Mat();
 						util3d::occupancy2DFromLaserScan(
 								laserScan,
+								laserScanNoHit,
 								viewPoint,
 								ground,
 								obstacles,

corelib/src/OctoMap.cpp

@@ -107,7 +107,7 @@ void OctoMap::update(const std::map<int, Transform> & poses)
 		}
 		else
 		{
-			UWARN("Updated pose for node %d is not found, some points may not be copied.", jter->first);
+			UWARN("Updated pose for node %d is not found, some points may not be copied. Use negative ids to just update cell values without adding new ones.", jter->first);
 		}
 	}
 	if(graphChanged)

corelib/src/util3d.cpp

@@ -1424,6 +1424,44 @@ pcl::PointXYZRGB laserScanToPointRGB(const cv::Mat & laserScan, int index, unsig
 	return output;
 }
 
+void getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max)
+{
+	UASSERT(!laserScan.empty());
+	UASSERT(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6));
+
+	const float * ptr = laserScan.ptr<float>(0, 0);
+	min.x = max.x = ptr[0];
+	min.y = max.y = ptr[1];
+	min.z = max.z = laserScan.channels() >= 3?ptr[2]:0.0f;
+	for(int i=1; i<laserScan.cols; ++i)
+	{
+		ptr = laserScan.ptr<float>(0, i);
+
+		if(ptr[0] < min.x) min.x = ptr[0];
+		else if(ptr[0] > max.x) max.x = ptr[0];
+
+		if(ptr[1] < min.y) min.y = ptr[1];
+		else if(ptr[1] > max.y) max.y = ptr[1];
+
+		if(laserScan.channels() >= 3)
+		{
+			if(ptr[2] < min.z) min.z = ptr[2];
+			else if(ptr[2] > max.z) max.z = ptr[2];
+		}
+	}
+}
+void getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max)
+{
+	cv::Point3f minCV, maxCV;
+	getMinMax3D(laserScan, minCV, maxCV);
+	min.x = minCV.x;
+	min.y = minCV.y;
+	min.z = minCV.z;
+	max.x = maxCV.x;
+	max.y = maxCV.y;
+	max.z = maxCV.z;
+}
+
 // inspired from ROS image_geometry/src/stereo_camera_model.cpp
 cv::Point3f projectDisparityTo3D(
 		const cv::Point2f & pt,

corelib/src/util3d_mapping.cpp

@@ -74,7 +74,20 @@ void occupancy2DFromLaserScan(
 		bool unknownSpaceFilled,
 		float scanMaxRange)
 {
-	if(scan.empty())
+	occupancy2DFromLaserScan(scan, cv::Mat(), viewpoint, ground, obstacles, cellSize, unknownSpaceFilled, scanMaxRange);
+}
+
+void occupancy2DFromLaserScan(
+		const cv::Mat & scanHit,
+		const cv::Mat & scanNoHit,
+		const cv::Point3f & viewpoint,
+		cv::Mat & ground,
+		cv::Mat & obstacles,
+		float cellSize,
+		bool unknownSpaceFilled,
+		float scanMaxRange)
+{
+	if(scanHit.empty() && scanNoHit.empty())
 	{
 		return;
 	}
@@ -82,11 +95,8 @@ void occupancy2DFromLaserScan(
 	std::map<int, Transform> poses;
 	poses.insert(std::make_pair(1, Transform::getIdentity()));
 
-	pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud = util3d::laserScanToPointCloud(scan);
+	std::map<int, std::pair<cv::Mat, cv::Mat> > scans;
-	//obstaclesCloud = util3d::voxelize<pcl::PointXYZ>(obstaclesCloud, cellSize);
+	scans.insert(std::make_pair(1, std::make_pair(scanHit, scanNoHit)));
-
-	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> scans;
-	scans.insert(std::make_pair(1, obstaclesCloud));
 
 	std::map<int, cv::Point3f> viewpoints;
 	viewpoints.insert(std::make_pair(1, viewpoint));
@@ -94,23 +104,6 @@ void occupancy2DFromLaserScan(
 	float xMin, yMin;
 	cv::Mat map8S = create2DMap(poses, scans, viewpoints, cellSize, unknownSpaceFilled, xMin, yMin, 0.0f, scanMaxRange);
 
-	// If input ground has already values, add them to map
-	if(ground.rows == 1 && ground.cols>0 && ground.type() == CV_32FC2)
-	{
-		for(int i=0; i<ground.cols; ++i)
-		{
-			cv::Vec2f * ptr = ground.ptr<cv::Vec2f>();
-
-			// cell
-			cv::Point2i cell((ptr[i][0]-xMin)/cellSize, (ptr[i][1]-yMin)/cellSize);
-
-			if(cell.x>=0 && cell.x<map8S.cols && cell.y >= 0 && cell.y < map8S.rows && map8S.at<char>(cell.y, cell.x) == -1)
-			{
-				map8S.at<char>(cell.y, cell.x) = 0;
-			}
-		}
-	}
-
 	// find ground cells
 	std::list<int> groundIndices;
 	for(unsigned int i=0; i< map8S.total(); ++i)
@@ -139,17 +132,7 @@ void occupancy2DFromLaserScan(
 	}
 
 	// copy directly obstacles precise positions
-	obstacles = cv::Mat();
+	obstacles = scanHit.clone();
-	if(obstaclesCloud->size())
-	{
-		obstacles = cv::Mat(1, (int)obstaclesCloud->size(), CV_32FC2);
-		for(unsigned int i=0;i<obstaclesCloud->size(); ++i)
-		{
-			cv::Vec2f * ptr = obstacles.ptr<cv::Vec2f>();
-			ptr[i][0] = obstaclesCloud->at(i).x;
-			ptr[i][1] = obstaclesCloud->at(i).y;
-		}
-	}
 }
 
 /**
@@ -510,8 +493,39 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 		float scanMaxRange)
 {
 	std::map<int, cv::Point3f > viewpoints;
+	std::map<int, std::pair<cv::Mat, cv::Mat> > scansCv;
+	for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::const_iterator iter = scans.begin(); iter!=scans.end(); ++iter)
+	{
+		scansCv.insert(std::make_pair(iter->first, std::make_pair(util3d::laserScanFromPointCloud(*iter->second), cv::Mat())));
+	}
 	return create2DMap(poses,
-			scans,
+			scansCv,
+			viewpoints,
+			cellSize,
+			unknownSpaceFilled,
+			xMin,
+			yMin,
+			minMapSize,
+			scanMaxRange);
+}
+
+cv::Mat create2DMap(const std::map<int, Transform> & poses,
+		const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
+		const std::map<int, cv::Point3f > & viewpoints,
+		float cellSize,
+		bool unknownSpaceFilled,
+		float & xMin,
+		float & yMin,
+		float minMapSize,
+		float scanMaxRange)
+{
+	std::map<int, std::pair<cv::Mat, cv::Mat> > scansCv;
+	for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::const_iterator iter = scans.begin(); iter!=scans.end(); ++iter)
+	{
+		scansCv.insert(std::make_pair(iter->first, std::make_pair(util3d::laserScanFromPointCloud(*iter->second), cv::Mat())));
+	}
+	return create2DMap(poses,
+			scansCv,
 			viewpoints,
 			cellSize,
 			unknownSpaceFilled,
@@ -537,7 +551,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
  * @param scanMaxRange laser scan maximum range, would be set if unknownSpaceFilled=true
  */
 cv::Mat create2DMap(const std::map<int, Transform> & poses,
-		const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
+		const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >
 		const std::map<int, cv::Point3f > & viewpoints,
 		float cellSize,
 		bool unknownSpaceFilled,
@@ -547,7 +561,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 		float scanMaxRange)
 {
 	UDEBUG("poses=%d, scans = %d scanMaxRange=%f", poses.size(), scans.size(), scanMaxRange);
-	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > localScans;
+	std::map<int, std::pair<cv::Mat, cv::Mat> > localScans;
 
 	pcl::PointCloud<pcl::PointXYZ> minMax;
 	if(minMapSize > 0.0f)
@@ -557,15 +571,25 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 	}
 	for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 	{
-		std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::const_iterator jter=scans.find(iter->first);
+		std::map<int, std::pair<cv::Mat, cv::Mat> >::const_iterator jter=scans.find(iter->first);
-		if(jter!=scans.end() && jter->second->size())
+		if(jter!=scans.end() && (jter->second.first.cols || jter->second.second.cols))
 		{
 			UASSERT(!iter->second.isNull());
-			pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::transformPointCloud(jter->second, iter->second);
+			cv::Mat hit = util3d::transformLaserScan(jter->second.first, iter->second);
+			cv::Mat noHit = util3d::transformLaserScan(jter->second.second, iter->second);
 			pcl::PointXYZ min, max;
-			pcl::getMinMax3D(*cloud, min, max);
+			if(!hit.empty())
-			minMax.push_back(min);
+			{
-			minMax.push_back(max);
+				util3d::getMinMax3D(hit, min, max);
+				minMax.push_back(min);
+				minMax.push_back(max);
+			}
+			if(!noHit.empty())
+			{
+				util3d::getMinMax3D(noHit, min, max);
+				minMax.push_back(min);
+				minMax.push_back(max);
+			}
 			minMax.push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
 
 			std::map<int, cv::Point3f>::const_iterator kter=viewpoints.find(iter->first);
@@ -574,7 +598,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 				minMax.push_back(pcl::PointXYZ(iter->second.x()+kter->second.x, iter->second.y()+kter->second.y, iter->second.z()+kter->second.z));
 			}
 
-			localScans.insert(std::make_pair(iter->first, cloud));
+			localScans.insert(std::make_pair(iter->first, std::make_pair(hit, noHit)));
 		}
 	}
 
@@ -599,7 +623,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 
 		map = cv::Mat::ones((yMax - yMin) / cellSize, (xMax - xMin) / cellSize, CV_8S)*-1;
 		int j=0;
-		for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)
+		for(std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)
 		{
 			const Transform & pose = poses.at(iter->first);
 			cv::Point3f viewpoint(0,0,0);
@@ -609,15 +633,48 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 				viewpoint = kter->second;
 			}
 			cv::Point2i start(((pose.x()+viewpoint.x)-xMin)/cellSize, ((pose.y()+viewpoint.y)-yMin)/cellSize);
-			for(unsigned int i=0; i<iter->second->size(); ++i)
+
+			// Set obstacles first
+			for(unsigned int i=0; i<iter->second.first.cols; ++i)
 			{
-				cv::Point2i end((iter->second->points[i].x-xMin)/cellSize, (iter->second->points[i].y-yMin)/cellSize);
+				const float * ptr = iter->second.first.ptr<float>(0, i);
+				cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize);
 				if(end!=start)
 				{
-					rayTrace(start, end, map, true); // trace free space
 					map.at<char>(end.y, end.x) = 100; // obstacle
 				}
 			}
+
+			// ray tracing for hits
+			for(unsigned int i=0; i<iter->second.first.cols; ++i)
+			{
+				const float * ptr = iter->second.first.ptr<float>(0, i);
+				cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize);
+				if(end!=start)
+				{
+					if(localScans.size() > 1 || map.at<char>(end.y, end.x) != 0)
+					{
+						rayTrace(start, end, map, true); // trace free space
+					}
+				}
+			}
+			// ray tracing for no hits
+			for(unsigned int i=0; i<iter->second.second.cols; ++i)
+			{
+				const float * ptr = iter->second.second.ptr<float>(0, i);
+				cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize);
+				if(end!=start)
+				{
+					if(localScans.size() > 1 || map.at<char>(end.y, end.x) != 0)
+					{
+						rayTrace(start, end, map, true); // trace free space
+						if(map.at<char>(end.y, end.x) == -1)
+						{
+							map.at<char>(end.y, end.x) = 0; // empty
+						}
+					}
+				}
+			}
 			++j;
 		}
 		UDEBUG("Ray trace known space=%fs", timer.ticks());
@@ -627,9 +684,9 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 		{
 			j=0;
 			float a = CV_PI/256.0f; // angle increment
-			for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)
+			for(std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)
 			{
-				if(iter->second->size() > 1)
+				if(iter->second.first.cols > 1)
 				{
 					if(scanMaxRange > cellSize)
 					{
@@ -650,19 +707,10 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 						cv::Mat origin(2,1,CV_32F), endFirst(2,1,CV_32F), endLast(2,1,CV_32F);
 						origin.at<float>(0) = pose.x()+viewpoint.x;
 						origin.at<float>(1) = pose.y()+viewpoint.y;
-						pcl::PointXYZ ptFirst = iter->second->points[0];
+						endFirst.at<float>(0) = iter->second.first.ptr<float>(0,0)[0];
-						pcl::PointXYZ ptLast = iter->second->points[iter->second->points.size()-1];
+						endFirst.at<float>(1) = iter->second.first.ptr<float>(0,0)[1];
-						//if(ptFirst.y > ptLast.y)
+						endLast.at<float>(0) = iter->second.first.ptr<float>(0,iter->second.first.cols-1)[0];
-						//{
+						endLast.at<float>(1) = iter->second.first.ptr<float>(0,iter->second.first.cols-1)[1];
-							// swap to iterate counterclockwise
-						//	pcl::PointXYZ tmp = ptLast;
-						//	ptLast = ptFirst;
-						//	ptFirst = tmp;
-						//}
-						endFirst.at<float>(0) = ptFirst.x;
-						endFirst.at<float>(1) = ptFirst.y;
-						endLast.at<float>(0) = ptLast.x;
-						endLast.at<float>(1) = ptLast.y;
 						//UWARN("origin = %f %f", origin.at<float>(0), origin.at<float>(1));
 						//UWARN("endFirst = %f %f", endFirst.at<float>(0), endFirst.at<float>(1));
 						//UWARN("endLast = %f %f", endLast.at<float>(0), endLast.at<float>(1));

guilib/include/rtabmap/gui/MainWindow.h

@@ -241,7 +241,8 @@ private:
 			const std::map<int, int> & mapIds,
 			const std::map<int, std::string> & labels,
 			const std::map<int, Transform> & groundTruths,
-			bool verboseProgress = false);
+			bool verboseProgress = false,
+			std::map<std::string, float> * stats = 0);
 	std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createAndAddCloudToMap(int nodeId,	const Transform & pose, int mapId);
 	void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
 	void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -171,6 +171,7 @@ public:
 	int getOctomapTreeDepth() const;
 	bool isOctomapGroundAnObstacle() const;
 	double getOctomapOccupancyThr() const;
+	int getOctomapPointSize() const;
 	int getCloudDecimation(int index) const;   // 0=map, 1=odom
 	double getCloudMaxDepth(int index) const;  // 0=map, 1=odom
 	double getCloudMinDepth(int index) const;  // 0=map, 1=odom

guilib/src/DatabaseViewer.cpp

@@ -1721,6 +1721,7 @@ void DatabaseViewer::regenerateLocalMaps()
 	rtabmap::ProgressDialog progressDialog(this);
 	progressDialog.setMaximumSteps(ids_.size());
 	progressDialog.show();
+	progressDialog.setCancelButtonVisible(true);
 
 	UPlot * plot = new UPlot(this);
 	plot->setWindowFlags(Qt::Window);
@@ -1730,10 +1731,19 @@ void DatabaseViewer::regenerateLocalMaps()
 	UPlotCurve * gridCreationCurve = plot->addCurve("Grid Creation");
 	plot->show();
 
+	UPlot * plotCells = new UPlot(this);
+	plotCells->setWindowFlags(Qt::Window);
+	plotCells->setWindowTitle("Occupancy Cells");
+	plotCells->setAttribute(Qt::WA_DeleteOnClose);
+	UPlotCurve * totalCurve = plotCells->addCurve("Total");
+	UPlotCurve * groundCurve = plotCells->addCurve("Empty");
+	UPlotCurve * obstaclesCurve = plotCells->addCurve("Occupied");
+	plotCells->show();
+
 	double decompressionTime = 0;
 	double gridCreationTime = 0;
 
-	for(int i =0; i<ids_.size(); ++i)
+	for(int i =0; i<ids_.size() && !progressDialog.isCanceled(); ++i)
 	{
 		UTimer timer;
 		SensorData data;
@@ -1758,6 +1768,10 @@ void DatabaseViewer::regenerateLocalMaps()
 			uInsert(generatedLocalMaps_, std::make_pair(data.id(), std::make_pair(ground, obstacles)));
 			uInsert(generatedLocalMapsInfo_, std::make_pair(data.id(), std::make_pair(grid.getCellSize(), viewpoint)));
 			msg = QString("Generated local occupancy grid map %1/%2").arg(i+1).arg((int)ids_.size());
+
+			totalCurve->addValue(ids_.at(i), obstacles.cols+ground.cols);
+			groundCurve->addValue(ids_.at(i), ground.cols);
+			obstaclesCurve->addValue(ids_.at(i), obstacles.cols);
 		}
 
 		progressDialog.appendText(msg);
@@ -1772,7 +1786,16 @@ void DatabaseViewer::regenerateLocalMaps()
 		}
 	}
 	progressDialog.setValue(progressDialog.maximumSteps());
-	updateGrid();
+
+	if(graphes_.size())
+	{
+		update3dView();
+		sliderIterationsValueChanged((int)graphes_.size()-1);
+	}
+	else
+	{
+		updateGrid();
+	}
 }
 
 void DatabaseViewer::regenerateCurrentLocalMaps()
@@ -1826,7 +1849,16 @@ void DatabaseViewer::regenerateCurrentLocalMaps()
 		QApplication::processEvents();
 	}
 	progressDialog.setValue(progressDialog.maximumSteps());
-	updateGrid();
+
+	if(graphes_.size())
+	{
+		update3dView();
+		sliderIterationsValueChanged((int)graphes_.size()-1);
+	}
+	else
+	{
+		updateGrid();
+	}
 }
 
 void DatabaseViewer::view3DMap()
@@ -3967,6 +3999,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 								Qt::red);
 						occupancyGridViewer_->setCloudPointSize("obstaclesXYZ", 5);
 					}
+					occupancyGridViewer_->update();
 				}
 			}
 		}

guilib/src/MainWindow.cpp

@@ -586,6 +586,13 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 
 	_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", false);
 	_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", false);
+	_ui->statsToolBox->updateStat("GUI/Graph Update/ms", false);
+#ifdef RTABMAP_OCTOMAP
+	_ui->statsToolBox->updateStat("GUI/Octomap Update/ms", false);
+	_ui->statsToolBox->updateStat("GUI/Octomap Rendering/ms", false);
+#endif
+	_ui->statsToolBox->updateStat("GUI/Grid Update/ms", false);
+	_ui->statsToolBox->updateStat("GUI/Grid Rendering/ms", false);
 	_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", false);
 	_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", false);
 	_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", false);
@@ -1429,12 +1436,18 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			signature = stat.getSignatures().at(stat.refImageId());
 			signature.sensorData().uncompressData(); // make sure data are uncompressed
 
-			if(!smallMovement && 
+			if( uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
-			   uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
 				signature.getWeight()>=0) // ignore intermediate nodes for the cache
 			{
-				_cachedSignatures.insert(signature.id(), signature);
+				if(smallMovement)
-				_cachedMemoryUsage += signature.sensorData().getMemoryUsed();
+				{
+					_cachedSignatures.insert(-1, signature); // negative means temporary
+				}
+				else
+				{
+					_cachedSignatures.insert(signature.id(), signature);
+					_cachedMemoryUsage += signature.sensorData().getMemoryUsed();
+				}
 			}
 		}
 
@@ -1675,8 +1688,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		//======================
 		// RGB-D Mapping stuff
 		//======================
-		UTimer timerVis;
-
 		// update clouds
 		if(stat.poses().size())
 		{
@@ -1725,19 +1736,40 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				}
 			}
 
+			if(_cachedSignatures.contains(-1))
+			{
+				if(poses.find(stat.refImageId())!=poses.end())
+				{
+					poses.insert(std::make_pair(-1, poses.at(stat.refImageId())));
+					poses.erase(stat.refImageId());
+				}
+				if(groundTruth.find(stat.refImageId())!=groundTruth.end())
+				{
+					groundTruth.insert(std::make_pair(-1, groundTruth.at(stat.refImageId())));
+					groundTruth.erase(stat.refImageId());
+				}
+			}
+
+			std::map<std::string, float> updateCloudSats;
 			updateMapCloud(
 					poses,
 					stat.constraints(),
 					mapIds,
 					labels,
-					groundTruth);
+					groundTruth,
+					false,
+					&updateCloudSats);
 
 			_odometryReceived = false;
 
 			_odometryCorrection = groundTruthOffset * stat.mapCorrection();
 
 			UDEBUG("time= %d ms", time.restart());
-			_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(timerVis.elapsed()*1000.0f), _preferencesDialog->isCacheSavedInFigures());
+
+			for(std::map<std::string, float>::iterator iter=updateCloudSats.begin(); iter!=updateCloudSats.end(); ++iter)
+			{
+				_ui->statsToolBox->updateStat(iter->first.c_str(), _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(iter->second), _preferencesDialog->isCacheSavedInFigures());
+			}
 
 			// loop closure view
 			if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0)  &&
@@ -1783,6 +1815,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		}
 		UDEBUG("");
 
+		_cachedSignatures.remove(-1); // remove tmp negative ids
+
 		// keep only compressed data in cache
 		if(_cachedSignatures.contains(stat.refImageId()))
 		{
@@ -1796,7 +1830,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			_cachedMemoryUsage += s.sensorData().getMemoryUsed();
 		}
 
-
 		UDEBUG("");
 	}
 	else if(!stat.extended() && stat.loopClosureId()>0)
@@ -1843,17 +1876,21 @@ void MainWindow::updateMapCloud(
 		const std::map<int, int> & mapIdsIn,
 		const std::map<int, std::string> & labels,
 		const std::map<int, Transform> & groundTruths, // ground truth should contain only valid transforms
-		bool verboseProgress)
+		bool verboseProgress,
+		std::map<std::string, float> * stats)
 {
+	UTimer timer;
 	UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d labelsIn=%d",
 			(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), (int)labels.size());
 	if(posesIn.size())
 	{
 		_currentPosesMap = posesIn;
+		_currentPosesMap.erase(-1); // don't keep -1 if it is there
 		_currentLinksMap = constraints;
 		_currentMapIds = mapIdsIn;
 		_currentLabels = labels;
 		_currentGTPosesMap = groundTruths;
+		_currentGTPosesMap.erase(-1);
 		if(_state != kMonitoring && _state != kDetecting)
 		{
 			_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
@@ -1902,12 +1939,12 @@ void MainWindow::updateMapCloud(
 	}
 	_ui->widget_mapVisibility->setMap(posesIn, posesMask);
 
-	if(_currentGTPosesMap.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())
+	if(groundTruths.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())
 	{
 		for(std::map<int, Transform>::iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 		{
-			std::map<int, Transform>::iterator gtIter = _currentGTPosesMap.find(iter->first);
+			std::map<int, Transform>::const_iterator gtIter = groundTruths.find(iter->first);
-			if(gtIter!=_currentGTPosesMap.end())
+			if(gtIter!=groundTruths.end())
 			{
 				iter->second = gtIter->second;
 			}
@@ -1932,6 +1969,12 @@ void MainWindow::updateMapCloud(
 		{
 			std::string cloudName = uFormat("cloud%d", iter->first);
 
+			if(iter->first < 0)
+			{
+				viewerClouds.remove(cloudName);
+				_cloudViewer->removeCloud(cloudName);
+			}
+
 			// 3d point cloud
 			bool update3dCloud = _cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0);
 			if(update3dCloud)
@@ -1971,6 +2014,11 @@ void MainWindow::updateMapCloud(
 
 			// 2d point cloud
 			std::string scanName = uFormat("scan%d", iter->first);
+			if(iter->first < 0)
+			{
+				viewerClouds.remove(scanName);
+				_cloudViewer->removeCloud(scanName);
+			}
 			if(_cloudViewer->isVisible() && _preferencesDialog->isScansShown(0))
 			{
 				if(viewerClouds.contains(scanName))
@@ -2004,6 +2052,12 @@ void MainWindow::updateMapCloud(
 			}
 
 			// occupancy grids
+			if(iter->first < 0)
+			{
+				_gridLocalMaps.erase(iter->first);
+				_gridViewPoints.erase(iter->first);
+			}
+
 			bool updateGridMap =
 					((_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()) ||
 					 (_cloudViewer->isVisible() && _preferencesDialog->getGridMapShown())) &&
@@ -2061,6 +2115,11 @@ void MainWindow::updateMapCloud(
 
 			// 3d features
 			std::string featuresName = uFormat("features%d", iter->first);
+			if(iter->first < 0)
+			{
+				viewerClouds.remove(featuresName);
+				_cloudViewer->removeCloud(featuresName);
+			}
 			if(_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0))
 			{
 				if(viewerClouds.contains(featuresName))
@@ -2129,6 +2188,10 @@ void MainWindow::updateMapCloud(
 	}
 
 	UDEBUG("");
+	if(stats)
+	{
+		stats->insert(std::make_pair("GUI/RGB-D cloud/ms", (float)timer.restart()*1000.0f));
+	}
 
 	// update 3D graphes (show all poses)
 	_cloudViewer->removeAllGraphs();
@@ -2268,6 +2331,10 @@ void MainWindow::updateMapCloud(
 	}
 
 	UDEBUG("");
+	if(stats)
+	{
+		stats->insert(std::make_pair("GUI/Graph Update/ms", (float)timer.restart()*1000.0f));
+	}
 
 #ifdef RTABMAP_OCTOMAP
 	_cloudViewer->removeOctomap();
@@ -2279,6 +2346,10 @@ void MainWindow::updateMapCloud(
 		_octomap->update(poses);
 		UINFO("Octomap update time = %fs", time.ticks());
 	}
+	if(stats)
+	{
+		stats->insert(std::make_pair("GUI/Octomap Update/ms", (float)timer.restart()*1000.0f));
+	}
 	if(_preferencesDialog->isOctomapShown())
 	{
 		UDEBUG("");
@@ -2294,11 +2365,16 @@ void MainWindow::updateMapCloud(
 			if(obstacles->size())
 			{
 				_cloudViewer->addCloud("octomap_cloud", cloud);
+				_cloudViewer->setCloudPointSize("octomap_cloud", _preferencesDialog->getOctomapPointSize());
 			}
 		}
 		UINFO("Octomap show 3d map time = %fs", time.ticks());
 	}
 	UDEBUG("");
+	if(stats)
+	{
+		stats->insert(std::make_pair("GUI/Octomap Rendering/ms", (float)timer.restart()*1000.0f));
+	}
 #endif
 
 	// Update occupancy grid map in 3D map view and graph view
@@ -2326,6 +2402,10 @@ void MainWindow::updateMapCloud(
 			if(_preferencesDialog->isGridMapIncremental())
 			{
 				_occupancyGrid->update(poses, 0, _preferencesDialog->getGridMapFootprintRadius());
+				if(stats)
+				{
+					stats->insert(std::make_pair("GUI/Grid Update/ms", (float)timer.restart()*1000.0f));
+				}
 				map8S = _occupancyGrid->getMap(xMin, yMin);
 			}
 			else
@@ -2359,6 +2439,10 @@ void MainWindow::updateMapCloud(
 	_ui->graphicsView_graphView->update();
 
 	UDEBUG("");
+	if(stats)
+	{
+		stats->insert(std::make_pair("GUI/Grid Rendering/ms", (float)timer.restart()*1000.0f));
+	}
 
 	if(!_preferencesDialog->getGridMapShown())
 	{

guilib/src/PreferencesDialog.cpp

@@ -412,6 +412,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->checkBox_octomap_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 	connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 	connect(_ui->checkBox_octomap_cubeRendering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+	connect(_ui->spinBox_octomap_pointSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+	connect(_ui->doubleSpinBox_octomap_occupancyThr, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 
 	connect(_ui->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 	connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1313,6 +1315,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_octomap_2dgrid->setChecked(true);
 		_ui->checkBox_octomap_show3dMap->setChecked(true);
 		_ui->checkBox_octomap_cubeRendering->setChecked(true);
+		_ui->spinBox_octomap_pointSize->setValue(5);
 		_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
 	}
 	else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1692,6 +1695,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 	_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
 	_ui->checkBox_octomap_cubeRendering->setChecked(settings.value("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked()).toBool());
 	_ui->doubleSpinBox_octomap_occupancyThr->setValue(settings.value("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value()).toDouble());
+	_ui->spinBox_octomap_pointSize->setValue(settings.value("octomap_point_size", _ui->spinBox_octomap_pointSize->value()).toInt());
 
 	_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
 	_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
@@ -2077,6 +2081,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 	settings.setValue("octomap_3dmap",               _ui->checkBox_octomap_show3dMap->isChecked());
 	settings.setValue("octomap_cube",                _ui->checkBox_octomap_cubeRendering->isChecked());
 	settings.setValue("octomap_occupancy_thr",       _ui->doubleSpinBox_octomap_occupancyThr->value());
+	settings.setValue("octomap_point_size",          _ui->spinBox_octomap_pointSize->value());
 
 
 	settings.setValue("meshing",               _ui->groupBox_organized->isChecked());
@@ -4067,6 +4072,10 @@ double PreferencesDialog::getOctomapOccupancyThr() const
 {
 	return _ui->doubleSpinBox_octomap_occupancyThr->value();
 }
+int PreferencesDialog::getOctomapPointSize() const
+{
+	return _ui->spinBox_octomap_pointSize->value();
+}
 
 double PreferencesDialog::getVoxel() const
 {

guilib/src/ui/preferencesDialog.ui

@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>15</number>
+                <number>3</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1958,7 +1958,33 @@ Show a yellow background when the number of odometry inliers goes under this thr
                        <bool>true</bool>
                       </property>
                       <layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1">
-                       <item row="2" column="1">
+                       <item row="5" column="1">
+                        <widget class="QLabel" name="label_octomap_treeDepth_4">
+                         <property name="text">
+                          <string>Occupancy threshold.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="1">
+                        <widget class="QLabel" name="label_octomap_treeDepth_5">
+                         <property name="text">
+                          <string>Cube rendering. Disable to show as a point cloud (a lot less GPU power required).</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="1">
                         <widget class="QLabel" name="label_octomap_treeDepth">
                          <property name="text">
                           <string>Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap.</string>
@@ -1971,7 +1997,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="2" column="0">
+                       <item row="3" column="0">
                         <widget class="QSpinBox" name="spinBox_octomap_treeDepth">
                          <property name="minimum">
                           <number>1</number>
@@ -1984,7 +2010,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="3" column="0">
+                       <item row="4" column="0">
                         <widget class="QCheckBox" name="checkBox_octomap_2dgrid">
                          <property name="text">
                           <string/>
@@ -1994,7 +2020,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="3" column="1">
+                       <item row="4" column="1">
                         <widget class="QLabel" name="label_octomap_treeDepth_2">
                          <property name="text">
                           <string>Show 2D occupancy grid map from OctoMap projection.</string>
@@ -2030,42 +2056,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="4" column="1">
+                       <item row="5" column="0">
-                        <widget class="QLabel" name="label_octomap_treeDepth_4">
-                         <property name="text">
-                          <string>Occupancy threshold.</string>
-                         </property>
-                         <property name="wordWrap">
-                          <bool>true</bool>
-                         </property>
-                         <property name="textInteractionFlags">
-                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                         </property>
-                        </widget>
-                       </item>
-                       <item row="4" column="0">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
                          <property name="maximum">
                           <double>1.000000000000000</double>
                          </property>
+                         <property name="singleStep">
+                          <double>0.050000000000000</double>
+                         </property>
                          <property name="value">
                           <double>0.500000000000000</double>
                          </property>
                         </widget>
                        </item>
-                       <item row="1" column="1">
-                        <widget class="QLabel" name="label_octomap_treeDepth_5">
-                         <property name="text">
-                          <string>Cube rendering. Disable to show as a point cloud (a lot less GPU power required).</string>
-                         </property>
-                         <property name="wordWrap">
-                          <bool>true</bool>
-                         </property>
-                         <property name="textInteractionFlags">
-                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                         </property>
-                        </widget>
-                       </item>
                        <item row="1" column="0">
                         <widget class="QCheckBox" name="checkBox_octomap_cubeRendering">
                          <property name="text">
@@ -2076,6 +2079,32 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
+                       <item row="2" column="1">
+                        <widget class="QLabel" name="label_octomap_treeDepth_6">
+                         <property name="text">
+                          <string>Point size. When cube rendering is disabled.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="2" column="0">
+                        <widget class="QSpinBox" name="spinBox_octomap_pointSize">
+                         <property name="minimum">
+                          <number>1</number>
+                         </property>
+                         <property name="maximum">
+                          <number>99</number>
+                         </property>
+                         <property name="value">
+                          <number>5</number>
+                         </property>
+                        </widget>
+                       </item>
                       </layout>
                      </widget>
                     </item>