diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
index 4eab1b25..2f59c49e 100644
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -87,13 +87,9 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->dockWidget_constraints->setVisible(false);
ui_->dockWidget_graphView->setVisible(false);
- ui_->dockWidget_icp->setVisible(false);
- ui_->dockWidget_visual->setVisible(false);
+ ui_->dockWidget_parameters->setVisible(false);
ui_->dockWidget_stereoView->setVisible(false);
ui_->dockWidget_view3d->setVisible(false);
- ui_->dockWidget_detectMoreLC->setVisible(false);
- ui_->dockWidget_graphOptimizer->setVisible(false);
- ui_->dockWidget_gridcloud->setVisible(false);
ui_->constraintsViewer->setCameraLockZ(false);
ui_->constraintsViewer->setCameraFree();
@@ -124,13 +120,9 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->menuView->addAction(ui_->dockWidget_constraints->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_graphView->toggleViewAction());
- ui_->menuView->addAction(ui_->dockWidget_icp->toggleViewAction());
- ui_->menuView->addAction(ui_->dockWidget_visual->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_stereoView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_view3d->toggleViewAction());
- ui_->menuView->addAction(ui_->dockWidget_detectMoreLC->toggleViewAction());
- ui_->menuView->addAction(ui_->dockWidget_graphOptimizer->toggleViewAction());
- ui_->menuView->addAction(ui_->dockWidget_gridcloud->toggleViewAction());
+ ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
connect(ui_->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
@@ -261,13 +253,9 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
}
ui_->dockWidget_constraints->installEventFilter(this);
ui_->dockWidget_graphView->installEventFilter(this);
- ui_->dockWidget_icp->installEventFilter(this);
ui_->dockWidget_stereoView->installEventFilter(this);
- ui_->dockWidget_visual->installEventFilter(this);
ui_->dockWidget_view3d->installEventFilter(this);
- ui_->dockWidget_detectMoreLC->installEventFilter(this);
- ui_->dockWidget_graphOptimizer->installEventFilter(this);
- ui_->dockWidget_gridcloud->installEventFilter(this);
+ ui_->dockWidget_parameters->installEventFilter(this);
}
DatabaseViewer::~DatabaseViewer()
diff --git a/guilib/src/ui/DatabaseViewer.ui b/guilib/src/ui/DatabaseViewer.ui
index 13f30062..5739bf6b 100644
--- a/guilib/src/ui/DatabaseViewer.ui
+++ b/guilib/src/ui/DatabaseViewer.ui
@@ -223,7 +223,7 @@
150
-
+
-
@@ -695,496 +695,957 @@
-
+
- true
+ false
+
+
+ Qt::AllDockWidgetAreas
- ICP parameters
+ Parameters
- 8
+ 1
-
-
-
-
-
-
- Iteration
-
-
-
- -
-
-
- Decimation
-
-
-
- -
-
-
- Max depth
-
-
-
- -
-
-
- Voxel
-
-
-
- -
-
-
- Max correspondence distance
-
-
-
- -
-
-
- Point to plane
-
-
-
- -
-
-
- Normal K neighbors
-
-
-
- -
-
-
- 2D icp (laser scans required)
-
-
-
- -
-
-
- 1
-
-
- 16
-
-
- 8
-
-
-
- -
-
-
- m
-
-
- 2
-
-
- 100.000000000000000
-
-
- 2.000000000000000
-
-
-
- -
-
-
- m
-
-
- 3
-
-
- 1.000000000000000
-
-
- 0.010000000000000
-
-
-
- -
-
-
- m
-
-
- 3
-
-
- 0.001000000000000
-
-
- 1.000000000000000
-
-
- 0.050000000000000
-
-
-
- -
-
-
- 1
-
-
- 1000
-
-
- 30
-
-
-
- -
-
-
- 1
-
-
- 1000
-
-
- 20
-
-
-
- -
-
-
-
-
-
- false
-
-
-
- -
-
-
-
-
-
- false
-
-
-
- -
-
-
- Min correspondence ratio
-
-
-
- -
-
-
-
-
-
- 2
-
-
- 0.000000000000000
-
-
- 1.000000000000000
-
-
- 0.000000000000000
-
-
-
-
-
- -
-
-
- Qt::Vertical
+
+
+ 4
-
-
- 20
- 31
-
-
-
-
-
-
-
-
-
- true
-
-
- Visual parameters
-
-
- 8
-
-
-
- -
-
-
-
-
-
- 1
-
-
- 1000
-
-
- 30
-
-
-
- -
-
-
-
-
-
-
- -
-
-
- m
-
-
- 2
-
-
- 100.000000000000000
-
-
- 4.000000000000000
-
-
-
- -
-
-
- NNDR
-
-
-
- -
-
-
- Min correspondences
-
-
-
- -
-
-
- 2D transform (x,y,yaw)
-
-
-
- -
-
-
- m
-
-
- 3
-
-
- 0.001000000000000
-
-
- 1.000000000000000
-
-
- 0.020000000000000
-
-
-
- -
-
-
- m
-
-
- 1
-
-
- 0.100000000000000
-
-
- 1.000000000000000
-
-
- 0.100000000000000
-
-
- 0.600000000000000
-
-
-
- -
-
-
- Max feature depth
-
-
-
- -
-
-
- 3
-
-
- 1000
-
-
- 10
-
-
-
- -
-
-
- Max correspondence distance
-
-
-
- -
-
-
- Iteration
-
-
-
-
-
- -
-
-
- Re-extract features
-
-
- true
-
-
-
-
-
-
- Feature type
-
-
-
- -
-
-
- 0
-
-
-
-
- SURF
+
+
+
+ 0
+ 0
+ 314
+ 303
+
+
+
+ ICP
+
+
+
-
+
+
+ 1
-
- -
-
- SIFT
+
+ 16
-
- -
-
- ORB
+
+ 8
-
- -
+
+
+ -
+
- FAST+FREAK
+ Decimation
-
- -
+
+
+ -
+
+
+ m
+
+
+ 2
+
+
+ 100.000000000000000
+
+
+ 2.000000000000000
+
+
+
+ -
+
- FAST+BRIEF
+ Max depth
-
- -
+
+
+ -
+
+
+ m
+
+
+ 3
+
+
+ 1.000000000000000
+
+
+ 0.010000000000000
+
+
+
+ -
+
- GFTT+FREAK
+ Voxel
-
- -
+
+
+ -
+
+
+ m
+
+
+ 3
+
+
+ 0.001000000000000
+
+
+ 1.000000000000000
+
+
+ 0.050000000000000
+
+
+
+ -
+
- GFTT+BRIEF
+ Max correspondence distance
-
- -
+
+
+ -
+
+
+
+
+
+ 2
+
+
+ 0.000000000000000
+
+
+ 1.000000000000000
+
+
+ 0.000000000000000
+
+
+
+ -
+
- BRISK
+ Min correspondence ratio
-
-
-
- -
-
-
- Nearest neighbor type
-
-
-
- -
-
-
- 3
-
-
-
+
+
+ -
+
+
+ 1
+
+
+ 1000
+
+
+ 30
+
+
+
+ -
+
- FLANN Naive
+ Iteration
-
- -
+
+
+ -
+
- FLANN Kd-Tree
+
-
- -
+
+ false
+
+
+
+ -
+
- FLANN LSH
+ Point to plane
-
- -
+
+
+ -
+
+
+ 1
+
+
+ 1000
+
+
+ 20
+
+
+
+ -
+
- Brute force
+ Normal K neighbors
-
- -
+
+
+ -
+
- Brute force GPU
+
-
-
-
-
+
+ false
+
+
+
+ -
+
+
+ 2D icp (laser scans required)
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 338
+ 314
+
+
+
+ Visual constraint
+
+
+ -
+
+
-
+
+
+ 1
+
+
+ 1000
+
+
+ 30
+
+
+
+ -
+
+
+
+
+
+
+ -
+
+
+ m
+
+
+ 2
+
+
+ 100.000000000000000
+
+
+ 4.000000000000000
+
+
+
+ -
+
+
+ NNDR
+
+
+
+ -
+
+
+ Min correspondences
+
+
+
+ -
+
+
+ 2D transform (x,y,yaw)
+
+
+
+ -
+
+
+ m
+
+
+ 3
+
+
+ 0.001000000000000
+
+
+ 1.000000000000000
+
+
+ 0.020000000000000
+
+
+
+ -
+
+
+ m
+
+
+ 1
+
+
+ 0.100000000000000
+
+
+ 1.000000000000000
+
+
+ 0.100000000000000
+
+
+ 0.600000000000000
+
+
+
+ -
+
+
+ Max feature depth
+
+
+
+ -
+
+
+ 3
+
+
+ 1000
+
+
+ 10
+
+
+
+ -
+
+
+ Max correspondence distance
+
+
+
+ -
+
+
+ Iteration
+
+
+
+
+
+ -
+
+
+ Re-extract features
+
+
+ true
+
+
+
-
+
+
+ Feature type
+
+
+
+ -
+
+
+ 0
+
+
-
+
+ SURF
+
+
+ -
+
+ SIFT
+
+
+ -
+
+ ORB
+
+
+ -
+
+ FAST+FREAK
+
+
+ -
+
+ FAST+BRIEF
+
+
+ -
+
+ GFTT+FREAK
+
+
+ -
+
+ GFTT+BRIEF
+
+
+ -
+
+ BRISK
+
+
+
+
+ -
+
+
+ Nearest neighbor type
+
+
+
+ -
+
+
+ 3
+
+
-
+
+ FLANN Naive
+
+
+ -
+
+ FLANN Kd-Tree
+
+
+ -
+
+ FLANN LSH
+
+
+ -
+
+ Brute force
+
+
+ -
+
+ Brute force GPU
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 246
+ 198
+
+
+
+ Graph optimization
+
+
+ -
+
+
-
+
+ TORO
+
+
+ -
+
+ g2o
+
+
+
+
+ -
+
+
+ Strategy
+
+
+
+ -
+
+
+
+
+
+ 1
+
+
+ 1000
+
+
+ 100
+
+
+
+ -
+
+
+ Iterations
+
+
+
+ -
+
+
+
+
+
+ 0
+
+
+ 1000
+
+
+ 0
+
+
+
+ -
+
+
+ Depth (0=inf)
+
+
+
+ -
+
+
+
+
+
+ false
+
+
+
+ -
+
+
+ Ignore covariance
+
+
+
+ -
+
+
+
+
+
+ false
+
+
+
+ -
+
+
+ Ignore pose correction
+
+
+
+ -
+
+
+
+
+
+ false
+
+
+
+ -
+
+
+ 2d SLAM
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 243
+ 284
+
+
+
+ Grid/cloud generation
+
+
+ -
+
+
-
+
+
+ m
+
+
+ 0.010000000000000
+
+
+ 5.000000000000000
+
+
+ 0.010000000000000
+
+
+ 0.050000000000000
+
+
+
+ -
+
+
+ Grid cell size
+
+
+
+ -
+
+
+ Errode
+
+
+
+ -
+
+
+
+
+
+
+
+
+ -
+
+
+ Grid from 3D projection
+
+
+ true
+
+
+ false
+
+
+
-
+
+
+ 1
+
+
+ 8
+
+
+ 4
+
+
+
+ -
+
+
+ Cloud decimation
+
+
+
+ -
+
+
+ m
+
+
+ 1
+
+
+ 0.400000000000000
+
+
+ 15.000000000000000
+
+
+ 1.000000000000000
+
+
+ 4.000000000000000
+
+
+
+ -
+
+
+ Cloud max depth
+
+
+
+
+
+
+ -
+
+
+ Pose filtering
+
+
+ true
+
+
+ false
+
+
+
-
+
+
+ degrees
+
+
+ 0
+
+
+ 180.000000000000000
+
+
+ 30.000000000000000
+
+
+
+ -
+
+
+ m
+
+
+ 0.010000000000000
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Radius
+
+
+
+ -
+
+
+ Angle
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 256
+ 151
+
+
+
+ Detect more loop closures
+
+
+ -
+
+
+ m
+
+
+ 2
+
+
+ 10.000000000000000
+
+
+ 0.100000000000000
+
+
+ 0.300000000000000
+
+
+
+ -
+
+
+ Radius
+
+
+
+ -
+
+
+ degrees
+
+
+ 0
+
+
+ 180.000000000000000
+
+
+ 1.000000000000000
+
+
+ 30.000000000000000
+
+
+
+ -
+
+
+ Angle
+
+
+
+ -
+
+
+ 1
+
+
+ 100
+
+
+ 1
+
+
+
+ -
+
+
+ Iterations
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
- -
-
-
- Qt::Vertical
-
-
-
- 20
- 40
-
-
-
-
@@ -1224,445 +1685,6 @@
-
-
- Graph optimization parameters
-
-
- 8
-
-
-
- -
-
-
-
-
-
-
-
-
- 0
-
-
- 1000
-
-
- 0
-
-
-
- -
-
-
- Iterations
-
-
-
- -
-
-
-
-
- TORO
-
-
- -
-
- g2o
-
-
-
-
- -
-
-
-
-
-
- 1
-
-
- 1000
-
-
- 100
-
-
-
- -
-
-
- 2d SLAM
-
-
-
- -
-
-
- Strategy
-
-
-
- -
-
-
- Ignore covariance
-
-
-
- -
-
-
-
-
-
- false
-
-
-
- -
-
-
-
-
-
- false
-
-
-
- -
-
-
- Depth (0=inf)
-
-
-
- -
-
-
- Ignore pose correction
-
-
-
- -
-
-
-
-
-
- false
-
-
-
-
-
- -
-
-
- Qt::Vertical
-
-
-
- 20
- 144
-
-
-
-
-
-
-
-
-
- Grid/Cloud parameters
-
-
- 8
-
-
-
- -
-
-
-
-
-
- m
-
-
- 0.010000000000000
-
-
- 5.000000000000000
-
-
- 0.010000000000000
-
-
- 0.050000000000000
-
-
-
- -
-
-
- Grid cell size
-
-
-
- -
-
-
- Errode
-
-
-
- -
-
-
-
-
-
-
-
-
- -
-
-
- Grid from 3D projection
-
-
- true
-
-
- false
-
-
-
-
-
-
- 1
-
-
- 8
-
-
- 4
-
-
-
- -
-
-
- Cloud decimation
-
-
-
- -
-
-
- m
-
-
- 1
-
-
- 0.400000000000000
-
-
- 15.000000000000000
-
-
- 1.000000000000000
-
-
- 4.000000000000000
-
-
-
- -
-
-
- Cloud max depth
-
-
-
-
-
-
- -
-
-
- Pose filtering
-
-
- true
-
-
- false
-
-
-
-
-
-
- degrees
-
-
- 0
-
-
- 180.000000000000000
-
-
- 30.000000000000000
-
-
-
- -
-
-
- m
-
-
- 0.010000000000000
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Radius
-
-
-
- -
-
-
- Angle
-
-
-
-
-
-
- -
-
-
- Qt::Vertical
-
-
-
- 20
- 156
-
-
-
-
-
-
-
-
-
- Detect more LCs parameters
-
-
- 4
-
-
-
- -
-
-
-
-
-
- m
-
-
- 2
-
-
- 10.000000000000000
-
-
- 0.100000000000000
-
-
- 0.300000000000000
-
-
-
- -
-
-
- Radius
-
-
-
- -
-
-
- degrees
-
-
- 0
-
-
- 180.000000000000000
-
-
- 1.000000000000000
-
-
- 30.000000000000000
-
-
-
- -
-
-
- Angle
-
-
-
- -
-
-
- 1
-
-
- 100
-
-
- 1
-
-
-
- -
-
-
- Iterations
-
-
-
-
-
- -
-
-
- Qt::Vertical
-
-
-
- 20
- 150
-
-
-
-
-
-
-
Open database