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DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode).

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matlabbe
2023-02-22 17:20:09 -08:00
parent 23b0b37493
commit 70c3d5d97f
4 changed files with 246 additions and 54 deletions
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guilib/src/ui/DatabaseViewer.ui
+66 -11
View File
@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>293</width>
<width>307</width>
<height>380</height>
</rect>
</property>
@@ -355,7 +355,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>292</width>
<width>306</width>
<height>380</height>
</rect>
</property>
@@ -1175,6 +1175,52 @@
<item>
<widget class="rtabmap::GraphViewer" name="graphViewer"/>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_15">
<item>
<widget class="QLabel" name="label_rotation">
<property name="text">
<string>0.0 deg</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_rotation">
<property name="focusPolicy">
<enum>Qt::ClickFocus</enum>
</property>
<property name="minimum">
<number>-1799</number>
</property>
<property name="maximum">
<number>1800</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
<property name="tickInterval">
<number>100</number>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_applyRotation">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The rotation will be applied temporary to optimized global graph. To save it to database, do File-&amp;gt;&amp;quot;Regenerate optimized 2D map...&amp;quot;.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>Apply Rotation</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
@@ -1198,16 +1244,25 @@
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_iterativeOptimization">
<property name="toolTip">
<string>Iterative optimization. Intermediate optimization graphes will be computed. Depending on the graph optimizer used, final optimization may not give the same results.</string>
</property>
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
<widget class="QComboBox" name="comboBox_optimizationFlavor">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Global Iterative</string>
</property>
</item>
<item>
<property name="text">
<string>Global Full</string>
</property>
</item>
<item>
<property name="text">
<string>Local Optimized</string>
</property>
</item>
</widget>
</item>
</layout>