Integrated DVO odometry approach

CMakeLists.txt

@@ -154,6 +154,7 @@ option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
 option(WITH_FOVIS         "Include FOVIS support"                ON)
 option(WITH_VISO2         "Include VISO2 support"                ON)
+option(WITH_DVO           "Include DVO support"                  ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -360,6 +361,12 @@ IF(WITH_VISO2)
     ENDIF(libviso2_FOUND)
 ENDIF(WITH_VISO2)
 
+IF(WITH_DVO)
+    FIND_PACKAGE(dvo_core QUIET)
+    IF(dvo_core_FOUND)
+       MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
+    ENDIF(dvo_core_FOUND)
+ENDIF(WITH_DVO)
 
 IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
    #Newest versions require std11
@@ -493,6 +500,11 @@ IF(NOT libviso2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES}) 
 ENDIF()
+IF(NOT dvo_core_FOUND)
+   SET(DVO "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES}) 
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -832,6 +844,14 @@ ELSE()
 MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
 ENDIF()
 
+IF(dvo_core_FOUND)
+MESSAGE(STATUS "  With dvo_core             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_DVO)
+MESSAGE(STATUS "  With dvo_core             = NO (WITH_DVO=OFF)")
+ELSE()
+MESSAGE(STATUS "  With dvo_core             = NO (dvo_core not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)

Version.h.in

@@ -56,6 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @CPUTSDF@#define RTABMAP_CPUTSDF
 @FOVIS@#define RTABMAP_FOVIS
 @VISO2@#define RTABMAP_VISO2
+@DVO@#define RTABMAP_DVO
 
 #endif /* VERSION_H_ */
 

corelib/include/rtabmap/core/Odometry.h

@@ -47,7 +47,8 @@ public:
 		kTypeF2M = 0,
 		kTypeF2F = 1,
 		kTypeFovis = 2,
-		kTypeViso2 = 3
+		kTypeViso2 = 3,
+		kTypeDVO = 4
 	};
 
 public:

corelib/include/rtabmap/core/OdometryDVO.h

@@ -0,0 +1,66 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYDVO_H_
+#define ODOMETRYDVO_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace dvo {
+class DenseTracker;
+namespace core {
+class RgbdImagePyramid;
+class RgbdCameraPyramid;
+}
+}
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryDVO : public Odometry
+{
+public:
+	OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryDVO();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeDVO;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+	dvo::DenseTracker * dvo_;
+	dvo::core::RgbdImagePyramid * reference_;
+	dvo::core::RgbdCameraPyramid * camera_;
+	bool lost_;
+	Transform motionFromKeyFrame_;
+
+};
+
+}
+
+#endif /* ODOMETRYDVO_H_ */

corelib/src/CMakeLists.txt

@@ -62,6 +62,7 @@ SET(SRC_FILES
 	OdometryF2F.cpp
 	OdometryFovis.cpp
 	OdometryViso2.cpp
+	OdometryDVO.cpp
 	
 	Stereo.cpp
 	StereoDense.cpp
@@ -299,6 +300,17 @@ IF(libviso2_FOUND)
 	)
 ENDIF(libviso2_FOUND)
 
+IF(dvo_core_FOUND)
+    SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${dvo_core_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${dvo_core_LIBRARIES}
+	)
+ENDIF(dvo_core_FOUND)
+
 ####################################
 # Generate resources files
 ####################################

corelib/src/Odometry.cpp

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/OdometryF2F.h"
 #include "rtabmap/core/OdometryFovis.h"
 #include "rtabmap/core/OdometryViso2.h"
+#include "rtabmap/core/OdometryDVO.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/util3d_mapping.h"
@@ -58,6 +59,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	Odometry * odometry = 0;
 	switch(type)
 	{
+	case Odometry::kTypeDVO:
+		odometry = new OdometryDVO(parameters);
+		break;
 	case Odometry::kTypeViso2:
 		odometry = new OdometryViso2(parameters);
 		break;

corelib/src/OdometryDVO.cpp

@@ -0,0 +1,274 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "rtabmap/core/OdometryDVO.h"
+#include "rtabmap/core/OdometryInfo.h"
+#include "rtabmap/core/util2d.h"
+#include "rtabmap/core/Version.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
+#include "rtabmap/utilite/UStl.h"
+
+#ifdef RTABMAP_DVO
+#include <dvo/dense_tracking.h>
+#include <dvo/core/surface_pyramid.h>
+#include <dvo/core/rgbd_image.h>
+#endif
+
+namespace rtabmap {
+
+OdometryDVO::OdometryDVO(const ParametersMap & parameters) :
+	Odometry(parameters),
+	dvo_(0),
+	reference_(0),
+	camera_(0),
+	lost_(false),
+	motionFromKeyFrame_(Transform::getIdentity())
+{
+}
+
+OdometryDVO::~OdometryDVO()
+{
+#ifdef RTABMAP_DVO
+	if(dvo_)
+	{
+		delete dvo_;
+	}
+	if(reference_)
+	{
+		delete reference_;
+	}
+	if(camera_)
+	{
+		delete camera_;
+	}
+#endif
+}
+
+void OdometryDVO::reset(const Transform & initialPose)
+{
+	Odometry::reset(initialPose);
+#ifdef RTABMAP_DVO
+	if(dvo_)
+	{
+		delete dvo_;
+		dvo_ = 0;
+	}
+	if(reference_)
+	{
+		delete reference_;
+		reference_ = 0;
+	}
+	if(camera_)
+	{
+		delete camera_;
+		camera_ = 0;
+	}
+	lost_ = false;
+	motionFromKeyFrame_.setIdentity();
+#endif
+}
+
+// return not null transform if odometry is correctly computed
+Transform OdometryDVO::computeTransform(
+		SensorData & data,
+		const Transform & guess,
+		OdometryInfo * info)
+{
+	Transform t;
+
+#ifdef RTABMAP_DVO
+	UTimer timer;
+
+	if(data.imageRaw().empty() ||
+		data.imageRaw().rows != data.depthOrRightRaw().rows ||
+		data.imageRaw().cols != data.depthOrRightRaw().cols)
+	{
+		UERROR("Not supported input!");
+		return t;
+	}
+
+	if(!(data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForReprojection()))
+	{
+		UERROR("Invalid camera model! Only single RGB-D camera supported.");
+		return t;
+	}
+
+	if(dvo_ == 0)
+	{
+		dvo::DenseTracker::Config cfg = dvo::DenseTracker::getDefaultConfig();
+
+		dvo_ = new dvo::DenseTracker(cfg);
+	}
+
+	cv::Mat grey, grey_s16, depth_inpainted, depth_mask, depth_mono, depth_float;
+	if(data.imageRaw().type() != CV_32FC1)
+	{
+		if(data.imageRaw().type() == CV_8UC3)
+		{
+			cv::cvtColor(data.imageRaw(), grey, CV_BGR2GRAY);
+		}
+		else
+		{
+			grey = data.imageRaw();
+		}
+
+		grey.convertTo(grey_s16, CV_32F);
+	}
+	else
+	{
+		grey_s16 = data.imageRaw();
+	}
+
+	// make sure all zeros are NAN
+	if(data.depthRaw().type() == CV_32FC1)
+	{
+		depth_float = data.depthRaw();
+		for(int i=0; i<depth_float.rows; ++i)
+		{
+			for(int j=0; j<depth_float.cols; ++j)
+			{
+				float & d = depth_float.at<float>(i,j);
+				if(d == 0.0f)
+				{
+					d = NAN;
+				}
+			}
+		}
+	}
+	else if(data.depthRaw().type() == CV_16UC1)
+	{
+		depth_float = cv::Mat(data.depthRaw().size(), CV_32FC1);
+		for(int i=0; i<data.depthRaw().rows; ++i)
+		{
+			for(int j=0; j<data.depthRaw().cols; ++j)
+			{
+				float d = float(data.depthRaw().at<unsigned short>(i,j))/1000.0f;
+				depth_float.at<float>(i, j) = d==0.0f?NAN:d;
+			}
+		}
+	}
+	else
+	{
+		UFATAL("Unknown depth format!");
+	}
+
+	if(camera_ == 0)
+	{
+		dvo::core::IntrinsicMatrix intrinsics = dvo::core::IntrinsicMatrix::create(
+						data.cameraModels()[0].fx(),
+						data.cameraModels()[0].fy(),
+						data.cameraModels()[0].cx(),
+						data.cameraModels()[0].cy());
+		camera_ = new dvo::core::RgbdCameraPyramid(
+				data.cameraModels()[0].imageWidth(),
+				data.cameraModels()[0].imageHeight(),
+				intrinsics);
+	}
+
+	dvo::core::RgbdImagePyramid * current = new dvo::core::RgbdImagePyramid(*camera_, grey_s16, depth_float);
+
+	cv::Mat covariance;
+	if(reference_ == 0)
+	{
+		reference_ = current;
+		if(!lost_)
+		{
+			t.setIdentity();
+		}
+		covariance = cv::Mat::eye(6,6,CV_64FC1) * 9999.0;
+	}
+	else
+	{
+		dvo::DenseTracker::Result result;
+		dvo_->match(*reference_, *current, result);
+		t = Transform::fromEigen3d(result.Transformation);
+
+		if(result.Information(0,0) > 0.0 && result.Information(0,0) != 1.0)
+		{
+			lost_ = false;
+			cv::Mat information = cv::Mat::eye(6,6, CV_64FC1);
+			memcpy(information.data, result.Information.data(), 36*sizeof(double));
+			covariance = information.inv();
+			covariance *= 100.0; // to be in the same scale than loop closure detection
+
+			Transform currentMotion = t;
+			t = motionFromKeyFrame_.inverse() * t;
+
+			// TODO make parameters?
+			if(currentMotion.getNorm() > 0.01 || currentMotion.getAngle() > 0.01)
+			{
+				if(info)
+				{
+					info->keyFrameAdded = true;
+				}
+				// new keyframe
+				delete reference_;
+				reference_ = current;
+				motionFromKeyFrame_.setIdentity();
+			}
+			else
+			{
+				delete current;
+				motionFromKeyFrame_ = currentMotion;
+			}
+		}
+		else
+		{
+			lost_ = true;
+			delete reference_;
+			delete current;
+			reference_ = 0; // this will make restart from the next frame
+			motionFromKeyFrame_.setIdentity();
+			t.setNull();
+			covariance = cv::Mat::eye(6,6,CV_64FC1) * 9999.0;
+			UWARN("dvo failed to estimate motion, tracking will be reinitialized on next frame.");
+		}
+	}
+
+	const Transform & localTransform = data.cameraModels()[0].localTransform();
+	if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
+	{
+		// from camera frame to base frame
+		t = localTransform * t * localTransform.inverse();
+	}
+
+	if(info)
+	{
+		info->type = (int)kTypeDVO;
+		info->covariance = covariance;
+	}
+
+	UINFO("Odom update time = %fs", timer.elapsed());
+
+#else
+	UERROR("RTAB-Map is not built with DVO support! Select another visual odometry approach.");
+#endif
+	return t;
+}
+
+} // namespace rtabmap

guilib/src/AboutDialog.cpp

@@ -88,6 +88,11 @@ AboutDialog::AboutDialog(QWidget * parent) :
 #else
 	_ui->label_viso2->setText("No");
 #endif
+#ifdef RTABMAP_DVO
+	_ui->label_dvo->setText("Yes");
+#else
+	_ui->label_dvo->setText("No");
+#endif
 
 }
 

guilib/src/MainWindow.cpp

@@ -1225,7 +1225,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 
 		//detect if it is OdometryMono intitialization
 		bool monoInitialization = false;
-		if(_preferencesDialog->getOdomStrategy() ==  4 && odom.info().type == (int)Odometry::kTypeF2F)
+		if(_preferencesDialog->getOdomStrategy() ==  5 && odom.info().type == (int)Odometry::kTypeF2F)
 		{
 			monoInitialization = true;
 		}

guilib/src/PreferencesDialog.cpp

@@ -165,6 +165,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 #ifndef RTABMAP_VISO2
 	_ui->odom_strategy->setItemData(3, 0, Qt::UserRole - 1);
 #endif
+#ifndef RTABMAP_DVO
+	_ui->odom_strategy->setItemData(4, 0, Qt::UserRole - 1);
+#endif
 
 #ifndef RTABMAP_NONFREE
 		_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);

guilib/src/ui/aboutDialog.ui

@@ -316,6 +316,13 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
+          <item row="21" column="0">
+           <widget class="QLabel" name="label_20">
+            <property name="text">
+             <string>With Octomap :</string>
+            </property>
+           </widget>
+          </item>
           <item row="11" column="0">
            <widget class="QLabel" name="label_12">
             <property name="text">
@@ -330,10 +337,10 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="21" column="0">
+          <item row="16" column="0">
-           <widget class="QLabel" name="label_20">
+           <widget class="QLabel" name="label_17">
             <property name="text">
-             <string>With Octomap :</string>
+             <string>With stereo FlyCapture2 :</string>
             </property>
            </widget>
           </item>
@@ -347,13 +354,6 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="16" column="0">
-           <widget class="QLabel" name="label_17">
-            <property name="text">
-             <string>With stereo FlyCapture2 :</string>
-            </property>
-           </widget>
-          </item>
           <item row="10" column="0">
            <widget class="QLabel" name="label_23">
             <property name="text">
@@ -368,6 +368,13 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
+          <item row="22" column="0">
+           <widget class="QLabel" name="label_24">
+            <property name="text">
+             <string>With CPU-TSDF :</string>
+            </property>
+           </widget>
+          </item>
           <item row="3" column="1">
            <widget class="QLabel" name="label_HomePage_2">
             <property name="text">
@@ -385,10 +392,10 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="22" column="0">
+          <item row="24" column="0">
-           <widget class="QLabel" name="label_24">
+           <widget class="QLabel" name="label_26">
             <property name="text">
-             <string>With CPU-TSDF :</string>
+             <string>With Viso2 :</string>
             </property>
            </widget>
           </item>
@@ -419,13 +426,6 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="24" column="0">
-           <widget class="QLabel" name="label_26">
-            <property name="text">
-             <string>With Viso2 :</string>
-            </property>
-           </widget>
-          </item>
           <item row="23" column="1">
            <widget class="QLabel" name="label_fovis">
             <property name="text">
@@ -446,6 +446,23 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
+          <item row="25" column="0">
+           <widget class="QLabel" name="label_27">
+            <property name="text">
+             <string>With Viso2 :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="25" column="1">
+           <widget class="QLabel" name="label_dvo">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+            </property>
+           </widget>
+          </item>
          </layout>
         </item>
         <item>

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-556</y>
+            <y>-34</y>
             <width>678</width>
             <height>2739</height>
            </rect>
@@ -9709,6 +9709,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                           <string>Viso2</string>
                          </property>
                         </item>
+                        <item>
+                         <property name="text">
+                          <string>DVO</string>
+                         </property>
+                        </item>
                        </widget>
                       </item>
                       <item row="2" column="1">
@@ -9980,7 +9985,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_odometryType">
                       <property name="currentIndex">
-                       <number>2</number>
+                       <number>4</number>
                       </property>
                       <widget class="QWidget" name="page_52">
                        <layout class="QVBoxLayout" name="verticalLayout_77">
@@ -11504,6 +11509,48 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                         </item>
                        </layout>
                       </widget>
+                      <widget class="QWidget" name="page_69">
+                       <layout class="QVBoxLayout" name="verticalLayout_122">
+                        <item>
+                         <widget class="QGroupBox" name="groupBox_27">
+                          <property name="title">
+                           <string>DVO</string>
+                          </property>
+                          <layout class="QVBoxLayout" name="verticalLayout_123">
+                           <item>
+                            <widget class="QLabel" name="label_411">
+                             <property name="text">
+                              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Dense Visual Odometry: &lt;a href=&quot;https://github.com/tum-vision/dvo_slam&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/tum-vision/dvo_slam&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Only RGB-D is supported.&lt;/span&gt;&lt;br/&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                             </property>
+                             <property name="wordWrap">
+                              <bool>true</bool>
+                             </property>
+                             <property name="openExternalLinks">
+                              <bool>true</bool>
+                             </property>
+                             <property name="textInteractionFlags">
+                              <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                             </property>
+                            </widget>
+                           </item>
+                          </layout>
+                         </widget>
+                        </item>
+                        <item>
+                         <spacer name="verticalSpacer_63">
+                          <property name="orientation">
+                           <enum>Qt::Vertical</enum>
+                          </property>
+                          <property name="sizeHint" stdset="0">
+                           <size>
+                            <width>20</width>
+                            <height>1029</height>
+                           </size>
+                          </property>
+                         </spacer>
+                        </item>
+                       </layout>
+                      </widget>
                       <widget class="QWidget" name="page_26">
                        <layout class="QVBoxLayout" name="verticalLayout_88">
                         <item>