DepthCalibrationDialog: added distortion model parameters

corelib/include/rtabmap/core/clams/discrete_depth_distortion_model.h

@@ -42,7 +42,7 @@ namespace clams
   class RTABMAP_EXP DiscreteFrustum
   {
   public:
-    DiscreteFrustum(int smoothing = 1, double bin_depth = 1.0);
+    DiscreteFrustum(int smoothing = 1, double bin_depth = 1.0, double max_dist = 10.0);
     //! z value, not distance to origin.
     //! thread-safe.
     void addExample(double ground_truth, double measurement);
@@ -88,7 +88,7 @@ namespace clams
 		training_samples_(0)
     {}
     virtual ~DiscreteDepthDistortionModel();
-    DiscreteDepthDistortionModel(int width, int height, int bin_width = 8, int bin_height = 6, double bin_depth = 2.0, int smoothing = 1);
+    DiscreteDepthDistortionModel(int width, int height, int bin_width = 8, int bin_height = 6, double bin_depth = 2.0, int smoothing = 1, double max_depth = 10.0);
     DiscreteDepthDistortionModel(const DiscreteDepthDistortionModel& other);
     DiscreteDepthDistortionModel& operator=(const DiscreteDepthDistortionModel& other);
     void undistort(cv::Mat & depth) const;

corelib/src/clams/discrete_depth_distortion_model.cpp

@@ -40,10 +40,13 @@ using namespace Eigen;
 namespace clams
 {
 
-  DiscreteFrustum::DiscreteFrustum(int smoothing, double bin_depth) :
+  DiscreteFrustum::DiscreteFrustum(int smoothing, double bin_depth, double max_dist) :
-    max_dist_(10),
+    max_dist_(max_dist),
     bin_depth_(bin_depth)
   {
+    UASSERT(max_dist_ >= bin_depth_);
+    UASSERT(bin_depth_>0.0);
+    UASSERT(smoothing>=1);
     num_bins_ = ceil(max_dist_ / bin_depth_);
     counts_ = VectorXf::Ones(num_bins_) * smoothing;
     total_numerators_ = VectorXf::Ones(num_bins_) * smoothing;
@@ -231,7 +234,8 @@ namespace clams
   DiscreteDepthDistortionModel::DiscreteDepthDistortionModel(int width, int height,
                                                              int bin_width, int bin_height,
                                                              double bin_depth,
-                                                             int smoothing) :
+                                                             int smoothing,
+															 double max_depth) :
     width_(width),
     height_(height),
     bin_width_(bin_width),
@@ -248,7 +252,7 @@ namespace clams
     for(size_t i = 0; i < frustums_.size(); ++i) {
       frustums_[i].resize(num_bins_x_, NULL);
       for(size_t j = 0; j < frustums_[i].size(); ++j)
-        frustums_[i][j] = new DiscreteFrustum(smoothing, bin_depth);
+        frustums_[i][j] = new DiscreteFrustum(smoothing, bin_depth, max_depth);
     }
 
     training_samples_ = 0;

guilib/src/DepthCalibrationDialog.cpp

@@ -74,6 +74,12 @@ DepthCalibrationDialog::DepthCalibrationDialog(QWidget *parent) :
 	connect(_ui->doubleSpinBox_coneStdDevThresh, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_laserScan, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 
+	connect(_ui->spinBox_bin_width, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_bin_height, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_bin_depth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_smoothing, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_maxDepthModel, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
 	_ui->buttonBox->button(QDialogButtonBox::Ok)->setFocus();
 
 	_progressDialog = new ProgressDialog(this);
@@ -109,6 +115,12 @@ void DepthCalibrationDialog::saveSettings(QSettings & settings, const QString &
 	settings.setValue("cone_stddev_thresh",_ui->doubleSpinBox_coneStdDevThresh->value());
 	settings.setValue("laser_scan",_ui->checkBox_laserScan->isChecked());
 
+	settings.setValue("bin_width",_ui->spinBox_bin_width->value());
+	settings.setValue("bin_height",_ui->spinBox_bin_height->value());
+	settings.setValue("bin_depth",_ui->doubleSpinBox_bin_depth->value());
+	settings.setValue("smoothing",_ui->spinBox_smoothing->value());
+	settings.setValue("max_model_depth",_ui->doubleSpinBox_maxDepthModel->value());
+
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -130,6 +142,12 @@ void DepthCalibrationDialog::loadSettings(QSettings & settings, const QString &
 	_ui->doubleSpinBox_coneStdDevThresh->setValue(settings.value("cone_stddev_thresh", _ui->doubleSpinBox_coneStdDevThresh->value()).toDouble());
 	_ui->checkBox_laserScan->setChecked(settings.value("laser_scan", _ui->checkBox_laserScan->isChecked()).toBool());
 
+	_ui->spinBox_bin_width->setValue(settings.value("bin_width", _ui->spinBox_bin_width->value()).toInt());
+	_ui->spinBox_bin_height->setValue(settings.value("bin_height", _ui->spinBox_bin_height->value()).toInt());
+	_ui->doubleSpinBox_bin_depth->setValue(settings.value("bin_depth", _ui->doubleSpinBox_bin_depth->value()).toDouble());
+	_ui->spinBox_smoothing->setValue(settings.value("smoothing", _ui->spinBox_smoothing->value()).toInt());
+	_ui->doubleSpinBox_maxDepthModel->setValue(settings.value("max_model_depth", _ui->doubleSpinBox_maxDepthModel->value()).toDouble());
+
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -146,6 +164,19 @@ void DepthCalibrationDialog::restoreDefaults()
 	_ui->doubleSpinBox_coneStdDevThresh->setValue(0.1); // 0.03
 	_ui->checkBox_laserScan->setChecked(false);
 	_ui->checkBox_resetModel->setChecked(true);
+
+	_ui->spinBox_bin_width->setValue(8);
+	_ui->spinBox_bin_height->setValue(6);
+	if(_imageSize.width > 0 && _imageSize.height > 0)
+	{
+		size_t bin_width, bin_height;
+		clams::DiscreteDepthDistortionModel::getBinSize(_imageSize.width, _imageSize.height, bin_width, bin_height);
+		_ui->spinBox_bin_width->setValue(bin_width);
+		_ui->spinBox_bin_height->setValue(bin_height);
+	}
+	_ui->doubleSpinBox_bin_depth->setValue(2.0),
+	_ui->spinBox_smoothing->setValue(1);
+	_ui->doubleSpinBox_maxDepthModel->setValue(10.0);
 }
 
 void DepthCalibrationDialog::saveModel()
@@ -192,6 +223,31 @@ void DepthCalibrationDialog::calibrate(
 	{
 		_ui->label_trainingSamples->setNum((int)_model->getTrainingSamples());
 	}
+
+	_ui->label_width->setText("NA");
+	_ui->label_height->setText("NA");
+	_imageSize = cv::Size();
+	if(cachedSignatures.size())
+	{
+		const Signature & s = cachedSignatures.begin().value();
+		const SensorData & data = s.sensorData();
+		if(data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForReprojection())
+		{
+			_imageSize = data.cameraModels()[0].imageSize();
+			_ui->label_width->setNum(data.cameraModels()[0].imageWidth());
+			_ui->label_height->setNum(data.cameraModels()[0].imageHeight());
+
+			if(data.cameraModels()[0].imageWidth() % _ui->spinBox_bin_width->value() != 0 ||
+			   data.cameraModels()[0].imageHeight() % _ui->spinBox_bin_height->value() != 0)
+			{
+				size_t bin_width, bin_height;
+				clams::DiscreteDepthDistortionModel::getBinSize(data.cameraModels()[0].imageWidth(), data.cameraModels()[0].imageHeight(), bin_width, bin_height);
+				_ui->spinBox_bin_width->setValue(bin_width);
+				_ui->spinBox_bin_height->setValue(bin_height);
+			}
+		}
+	}
+
 	if(this->exec() == QDialog::Accepted)
 	{
 		if(_model && _ui->checkBox_resetModel->isChecked())
@@ -200,6 +256,12 @@ void DepthCalibrationDialog::calibrate(
 			_model = 0;
 		}
 
+		if(_ui->doubleSpinBox_maxDepthModel->value() < _ui->doubleSpinBox_bin_depth->value())
+		{
+			QMessageBox::warning(this, tr("Wrong parameter"), tr("Maximum model depth should be higher than bin depth, setting to bin depth x5."));
+			_ui->doubleSpinBox_maxDepthModel->setValue(_ui->doubleSpinBox_bin_depth->value() * 5.0);
+		}
+
 		_progressDialog->setMaximumSteps(poses.size()*2 + 3);
 		if(_ui->doubleSpinBox_voxelSize->value() > 0.0)
 		{
@@ -391,9 +453,24 @@ void DepthCalibrationDialog::calibrate(
 			const cv::Size & imageSize = sequence.begin()->second.cameraModels()[0].imageSize();
 			if(_model == 0)
 			{
-				size_t bin_width, bin_height;
+				size_t bin_width = _ui->spinBox_bin_width->value();
-                                clams::DiscreteDepthDistortionModel::getBinSize(imageSize.width, imageSize.height, bin_width, bin_height);
+				size_t bin_height = _ui->spinBox_bin_height->value();
-				_model = new clams::DiscreteDepthDistortionModel(imageSize.width, imageSize.height, bin_width, bin_height);
+				if(imageSize.width % _ui->spinBox_bin_width->value() != 0 ||
+				   imageSize.height % _ui->spinBox_bin_height->value() != 0)
+				{
+					size_t bin_width, bin_height;
+					clams::DiscreteDepthDistortionModel::getBinSize(imageSize.width, imageSize.height, bin_width, bin_height);
+					_ui->spinBox_bin_width->setValue(bin_width);
+					_ui->spinBox_bin_height->setValue(bin_height);
+				}
+				_model = new clams::DiscreteDepthDistortionModel(
+						imageSize.width,
+						imageSize.height,
+						bin_width,
+						bin_height,
+						_ui->doubleSpinBox_bin_depth->value(),
+						_ui->spinBox_smoothing->value(),
+						_ui->doubleSpinBox_maxDepthModel->value());
 			}
 			UASSERT(_model->getWidth() == imageSize.width && _model->getHeight() == imageSize.height);
 

guilib/src/DepthCalibrationDialog.h

@@ -76,6 +76,7 @@ private:
 	bool _canceled;
 	clams::DiscreteDepthDistortionModel * _model;
 	QString _workingDirectory;
+	cv::Size _imageSize;
 };
 
 } /* namespace rtabmap */

guilib/src/ui/depthCalibrationDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>524</width>
+    <width>523</width>
-    <height>449</height>
+    <height>781</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -27,57 +27,375 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Map generation</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="checkBox_laserScan">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_110">
+        <property name="text">
+         <string>Use 3D laser scans for 3D map.</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="QSpinBox" name="spinBox_decimation">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>32</number>
+        </property>
+        <property name="value">
+         <number>1</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_108">
+        <property name="text">
+         <string>Decimation (1-2-4-8-...).</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+        <property name="textInteractionFlags">
+         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <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>4.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label_132">
+        <property name="text">
+         <string>Maximum depth (0 means no limit).</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="0">
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <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>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLabel" name="label_133">
+        <property name="text">
+         <string>Minimum depth.</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_voxelSize">
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <property name="decimals">
+         <number>3</number>
+        </property>
+        <property name="maximum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.010000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.010000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QLabel" name="label_voxel">
+        <property name="text">
+         <string>Voxel size. Set 0 to disable.</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+        <property name="textInteractionFlags">
+         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Distortion Model</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
+      <item row="2" column="0">
+       <widget class="QSpinBox" name="spinBox_bin_width">
+        <property name="suffix">
+         <string> pix</string>
+        </property>
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>999</number>
+        </property>
+        <property name="value">
+         <number>8</number>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QSpinBox" name="spinBox_smoothing">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>32</number>
+        </property>
+        <property name="value">
+         <number>1</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label_113">
+        <property name="text">
+         <string>Bin width. Should be a multiple of image width.</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="1">
+       <widget class="QLabel" name="label_117">
+        <property name="text">
+         <string>Bin depth.</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_120">
+        <property name="text">
+         <string>Image height.</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_116">
+        <property name="text">
+         <string>Bin height. Should be a multiple of image height.</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="0">
+       <widget class="QSpinBox" name="spinBox_bin_height">
+        <property name="suffix">
+         <string> pix</string>
+        </property>
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>999</number>
+        </property>
+        <property name="value">
+         <number>6</number>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="1">
+       <widget class="QLabel" name="label_118">
+        <property name="text">
+         <string>Maximum depth.</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+        <property name="textInteractionFlags">
+         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="1">
+       <widget class="QLabel" name="label_115">
+        <property name="text">
+         <string>Smoothing.</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+        <property name="textInteractionFlags">
+         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_119">
+        <property name="text">
+         <string>Image width.</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+        <property name="textInteractionFlags">
+         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_width">
+        <property name="text">
+         <string>NA</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="QLabel" name="label_height">
+        <property name="text">
+         <string>NA</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_bin_depth">
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <property name="decimals">
+         <number>1</number>
+        </property>
+        <property name="minimum">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>10.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>2.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepthModel">
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <property name="decimals">
+         <number>0</number>
+        </property>
+        <property name="minimum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>10.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
    <item>
     <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
-     <item row="5" column="0">
+     <item row="2" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
-       <property name="suffix">
-        <string> m</string>
-       </property>
-       <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>0.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="1">
-      <widget class="QLabel" name="label_voxel">
-       <property name="text">
-        <string>Voxel size. Set 0 to disable.</string>
-       </property>
-       <property name="wordWrap">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
-       <property name="suffix">
-        <string> m</string>
-       </property>
-       <property name="decimals">
-        <number>3</number>
-       </property>
-       <property name="maximum">
-        <double>1.000000000000000</double>
-       </property>
-       <property name="singleStep">
-        <double>0.010000000000000</double>
-       </property>
-       <property name="value">
-        <double>0.010000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="0">
       <widget class="QDoubleSpinBox" name="doubleSpinBox_coneRadius">
        <property name="suffix">
         <string> m</string>
@@ -99,73 +417,7 @@
        </property>
       </widget>
      </item>
-     <item row="0" column="0">
+     <item row="3" column="0">
-      <widget class="QCheckBox" name="checkBox_laserScan">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QLabel" name="label_132">
-       <property name="text">
-        <string>Maximum depth (0 means no limit).</string>
-       </property>
-       <property name="wordWrap">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="0">
-      <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
-       <property name="suffix">
-        <string> m</string>
-       </property>
-       <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>4.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="1">
-      <widget class="QLabel" name="label_133">
-       <property name="text">
-        <string>Minimum depth.</string>
-       </property>
-       <property name="wordWrap">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="1">
-      <widget class="QLabel" name="label_voxel_2">
-       <property name="text">
-        <string>Cone radius.</string>
-       </property>
-       <property name="wordWrap">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="8" column="1">
-      <widget class="QLabel" name="label_voxel_3">
-       <property name="text">
-        <string>Cone standard deviation threshold.</string>
-       </property>
-       <property name="wordWrap">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="8" column="0">
       <widget class="QDoubleSpinBox" name="doubleSpinBox_coneStdDevThresh">
        <property name="suffix">
         <string> m</string>
@@ -187,24 +439,33 @@
        </property>
       </widget>
      </item>
-     <item row="1" column="0">
+     <item row="2" column="1">
-      <widget class="QCheckBox" name="checkBox_resetModel">
+      <widget class="QLabel" name="label_voxel_2">
        <property name="text">
-        <string/>
+        <string>Cone radius.</string>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="1">
-      <widget class="QLabel" name="label_110">
-       <property name="text">
-        <string>Use 3D laser scans for 3D map.</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">
+     <item row="3" column="1">
+      <widget class="QLabel" name="label_voxel_3">
+       <property name="text">
+        <string>Cone standard deviation 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="1">
       <widget class="QLabel" name="label_109">
        <property name="text">
         <string>Reset previous model.</string>
@@ -212,28 +473,15 @@
        <property name="wordWrap">
         <bool>true</bool>
        </property>
+       <property name="textInteractionFlags">
+        <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+       </property>
       </widget>
      </item>
-     <item row="3" column="1">
+     <item row="4" column="0">
-      <widget class="QLabel" name="label_108">
+      <widget class="QCheckBox" name="checkBox_resetModel">
        <property name="text">
-        <string>Decimation (1-2-4-8-...).</string>
+        <string/>
-       </property>
-       <property name="wordWrap">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="0">
-      <widget class="QSpinBox" name="spinBox_decimation">
-       <property name="minimum">
-        <number>1</number>
-       </property>
-       <property name="maximum">
-        <number>32</number>
-       </property>
-       <property name="value">
-        <number>1</number>
        </property>
       </widget>
      </item>
@@ -249,6 +497,9 @@
        <property name="wordWrap">
         <bool>true</bool>
        </property>
+       <property name="textInteractionFlags">
+        <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+       </property>
       </widget>
      </item>
      <item>
@@ -259,6 +510,9 @@
        <property name="wordWrap">
         <bool>true</bool>
        </property>
+       <property name="textInteractionFlags">
+        <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+       </property>
       </widget>
      </item>
      <item>
@@ -269,6 +523,9 @@
        <property name="wordWrap">
         <bool>true</bool>
        </property>
+       <property name="textInteractionFlags">
+        <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+       </property>
       </widget>
      </item>
      <item>