i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close

Browse Source
This commit is contained in:
matlabbe
2016-08-25 23:47:01 -04:00
parent 4d8200fef3
commit 797f1f0f1c
8 changed files with 309 additions and 297 deletions
Download Patch File Download Diff File Expand all files Collapse all files

230
guilib/src/DatabaseViewer.cpp
View File

@@ -65,6 +65,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/core/RegistrationIcp.h"
#include "rtabmap/core/OccupancyGrid.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/core/SensorData.h"
#include "ExportDialog.h"
@@ -183,6 +184,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
connect(ui_->actionVisual_Refine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllNeighborLinks()));
connect(ui_->actionVisual_Refine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllLoopClosureLinks()));
connect(ui_->actionRegenerate_local_grid_maps, SIGNAL(triggered()), this, SLOT(regenerateLocalMaps()));
connect(ui_->actionReset_all_changes, SIGNAL(triggered()), this, SLOT(resetAllChanges()));
//ICP buttons
@@ -250,13 +252,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
ui_->label_stereo_inliers_name->setStyleSheet("QLabel {color : blue; }");
ui_->label_stereo_flowOutliers_name->setStyleSheet("QLabel {color : red; }");
@@ -280,13 +276,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridFillUnkownSpace, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projClusterSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -402,13 +392,7 @@ void DatabaseViewer::readSettings()
settings.endGroup();
settings.beginGroup("grid");
ui_->groupBox_gridFromProjection->setChecked(settings.value("gridFromProj", ui_->groupBox_gridFromProjection->isChecked()).toBool());
ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
ui_->doubleSpinBox_projMinDepth->setValue(settings.value("projMinDepth", ui_->doubleSpinBox_projMinDepth->value()).toDouble());
ui_->doubleSpinBox_projMaxAngle->setValue(settings.value("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value()).toDouble());
ui_->spinBox_projClusterSize->setValue(settings.value("projClusterSize", ui_->spinBox_projClusterSize->value()).toInt());
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
@@ -490,13 +474,7 @@ void DatabaseViewer::writeSettings()
// save Grid settings
settings.beginGroup("grid");
settings.setValue("gridFromProj", ui_->groupBox_gridFromProjection->isChecked());
settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
settings.setValue("projMinDepth", ui_->doubleSpinBox_projMinDepth->value());
settings.setValue("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value());
settings.setValue("projClusterSize", ui_->spinBox_projClusterSize->value());
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
@@ -580,6 +558,8 @@ bool DatabaseViewer::openDatabase(const QString & path)
linksRefined_.clear();
linksRemoved_.clear();
localMaps_.clear();
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
ui_->graphViewer->clearAll();
ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
ui_->actionGenerate_g2o_graph_g2o->setEnabled(false);
@@ -680,6 +660,7 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
writeSettings();
}
event->accept();
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size())
{
QMessageBox::StandardButton button = QMessageBox::question(this,
@@ -723,20 +704,52 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
dbDriver_->removeLink(iter->second.to(), iter->second.from());
dbDriver_->removeLink(iter->second.from(), iter->second.to());
}
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
}
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
event->accept();
}
else
if(button != QMessageBox::Yes && button != QMessageBox::No)
{
event->ignore();
}
}
else
if(event->isAccepted() && generatedLocalMaps_.size())
{
event->accept();
QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Local occupancy grid maps modified"),
tr("%1 occupancy grid maps are modified, do you want to "
"save them? This will overwrite occupancy grids saved in the database.")
.arg(generatedLocalMaps_.size()),
QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::No,
QMessageBox::Cancel);
if(button == QMessageBox::Yes)
{
// Rejected links
UASSERT(generatedLocalMaps_.size() == generatedLocalMapsInfo_.size());
std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator mapIter = generatedLocalMaps_.begin();
std::map<int, std::pair<float, cv::Point3f> >::iterator infoIter = generatedLocalMapsInfo_.begin();
for(; mapIter!=generatedLocalMaps_.end(); ++mapIter, ++infoIter)
{
UASSERT(mapIter->first == infoIter->first);
dbDriver_->updateOccupancyGrid(
mapIter->first,
mapIter->second.first,
mapIter->second.second,
infoIter->second.first,
infoIter->second.second);
}
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
localMaps_.clear();
}
if(button != QMessageBox::Yes && button != QMessageBox::No)
{
event->ignore();
}
}
if(event->isAccepted())
@@ -1528,6 +1541,52 @@ void DatabaseViewer::generateG2OGraph()
}
}
void DatabaseViewer::regenerateLocalMaps()
{
UTimer time;
OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids_.size());
progressDialog.show();
for(int i =0; i<ids_.size(); ++i)
{
SensorData data;
dbDriver_->getNodeData(ids_.at(i), data);
data.uncompressData();
int mapId, weight;
Transform odomPose, groundTruth;
std::string label;
double stamp;
QString msg;
if(dbDriver_->getNodeInfo(data.id(), odomPose, mapId, weight, label, stamp, groundTruth))
{
Signature s = data;
s.setPose(odomPose);
cv::Mat ground, obstacles;
cv::Point3f viewpoint;
grid.createLocalMap(s, ground, obstacles, viewpoint);
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 (%3s)").arg(i+1).arg((int)ids_.size()).arg(time.ticks());
if(i==37)
{
pcl::io::savePCDFileBinary("ground.pcd", *util3d::laserScanToPointCloud(ground));
pcl::io::savePCDFileBinary("obstacles.pcd", *util3d::laserScanToPointCloud(obstacles));
UWARN("Saved ground.pcd and obstacles.pcd");
}
}
progressDialog.appendText(msg);
progressDialog.incrementStep();
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
updateGrid();
}
void DatabaseViewer::view3DMap()
{
if(!ids_.size() || !dbDriver_)
@@ -2162,6 +2221,8 @@ void DatabaseViewer::resetAllChanges()
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
updateLoopClosuresSlider();
this->updateGraphView();
}
@@ -3436,6 +3497,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
if(ui_->dockWidget_graphView->isVisible())
{
//update scans
@@ -3443,84 +3505,21 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
std::vector<int> ids = uKeys(graphFiltered);
for(unsigned int i=0; i<ids.size(); ++i)
{
if(localMaps_.find(ids[i]) == localMaps_.end())
if(generatedLocalMaps_.find(ids[i]) != generatedLocalMaps_.end())
{
UTimer time;
bool added = false;
if(ui_->groupBox_gridFromProjection->isChecked())
{
SensorData data;
dbDriver_->getNodeData(ids.at(i), data);
data.uncompressData();
if(!data.depthOrRightRaw().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudFromSensorData(data,
ui_->spinBox_projDecimation->value(),
ui_->doubleSpinBox_projMaxDepth->value(),
ui_->doubleSpinBox_projMinDepth->value(),
validIndices.get(),
ui_->parameters_toolbox->getParameters());
UASSERT(ui_->doubleSpinBox_gridCellSize->value() > 0);
cloud = util3d::voxelize(cloud, validIndices, ui_->doubleSpinBox_gridCellSize->value());
// add pose rotation without yaw
float roll, pitch, yaw;
graphFiltered.at(ids[i]).getEulerAngles(roll, pitch, yaw);
cloud = util3d::transformPointCloud(cloud, Transform(0,0,0, roll, pitch, 0));
if(cloud->size())
{
UTimer timer;
float cellSize = ui_->doubleSpinBox_gridCellSize->value();
float groundNormalMaxAngle = ui_->doubleSpinBox_projMaxAngle->value();
int minClusterSize = ui_->spinBox_projClusterSize->value();
cv::Mat ground, obstacles;
util3d::occupancy2DFromCloud3D<pcl::PointXYZ>(
cloud,
ground, obstacles,
cellSize,
groundNormalMaxAngle,
minClusterSize);
if(!ground.empty() || !obstacles.empty())
{
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(ground, obstacles)));
added = true;
}
}
}
}
else
{
SensorData data;
dbDriver_->getNodeData(ids.at(i), data);
if(!data.laserScanCompressed().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat laserScan;
data.uncompressDataConst(0, 0, &laserScan);
cv::Mat ground, obstacles;
if(laserScan.type() == CV_32FC2)
{
util3d::occupancy2DFromLaserScan(
laserScan,
ground,
obstacles,
ui_->doubleSpinBox_gridCellSize->value(),
ui_->checkBox_gridFillUnkownSpace->isChecked(),
data.laserScanInfo().maxRange());
added = true;
}
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(ground, obstacles)));
}
}
if(added)
{
UINFO("Processed grid map %d/%d (%fs)", i+1, (int)ids.size(), time.ticks());
}
localMaps.insert(*generatedLocalMaps_.find(ids[i]));
}
else if(localMaps_.find(ids[i]) != localMaps_.end())
{
localMaps.insert(*localMaps_.find(ids.at(i)));
}
else
{
SensorData data;
dbDriver_->getNodeData(ids.at(i), data);
cv::Mat ground, obstacles;
data.uncompressData(0, 0, 0, 0, &ground, &obstacles);
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(ground, obstacles)));
}
}
//cleanup
@@ -3540,14 +3539,14 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
ui_->graphViewer->updateGTGraph(groundTruthPoses_);
ui_->graphViewer->updateGraph(graph, graphLinks_, mapIds_);
if(graph.size() && localMaps_.size() && ui_->graphViewer->isGridMapVisible())
if(graph.size() && localMaps.size() && ui_->graphViewer->isGridMapVisible())
{
float xMin, yMin;
float cell = ui_->doubleSpinBox_gridCellSize->value();
cv::Mat map;
QTime time;
time.start();
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graphFiltered, localMaps_, cell, xMin, yMin, 0, ui_->checkBox_gridErode->isChecked());
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graphFiltered, localMaps, cell, xMin, yMin, 0, ui_->checkBox_gridErode->isChecked());
if(!map.empty())
{
ui_->graphViewer->updateMap(rtabmap::util3d::convertMap2Image8U(map), cell, xMin, yMin);
@@ -3798,16 +3797,7 @@ void DatabaseViewer::updateGraphView()
void DatabaseViewer::updateGrid()
{
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender() != ui_->doubleSpinBox_projMinDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
(sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMinDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxAngle && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->spinBox_projClusterSize && ui_->groupBox_gridFromProjection->isChecked()))
{
localMaps_.clear();
updateGraphView();
}
updateGraphView();
}
Link DatabaseViewer::findActiveLink(int from, int to)

4
guilib/src/ParametersToolBox.cpp
View File

@@ -488,10 +488,6 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout, const QString & key,
QHBoxLayout * hLayout = new QHBoxLayout();
layout->insertLayout(layout->count()-1, hLayout);
QString tmp = key.split('/').last();
if(tmp.at(0).isDigit())
{
tmp.remove(0,1);
}
QLabel * label = new QLabel(tmp, this);
label->setObjectName(key+"/label");
label->setToolTip(QString("<FONT>%1</FONT>").arg(Parameters::getDescription(key.toStdString()).c_str()));

203
guilib/src/ui/DatabaseViewer.ui
View File

@@ -517,6 +517,8 @@
<addaction name="actionVisual_Refine_all_loop_closure_links"/>
<addaction name="actionRefine_all_loop_closure_links"/>
<addaction name="separator"/>
<addaction name="actionRegenerate_local_grid_maps"/>
<addaction name="separator"/>
<addaction name="actionReset_all_changes"/>
<addaction name="separator"/>
<addaction name="actionView_3D_map"/>
@@ -980,7 +982,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
@@ -1124,7 +1126,7 @@
<x>0</x>
<y>0</y>
<width>278</width>
<height>611</height>
<height>410</height>
</rect>
</property>
<attribute name="label">
@@ -1133,32 +1135,6 @@
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gridCellSize">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>5.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Grid cell size</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_44">
<property name="text">
@@ -1187,150 +1163,28 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_46">
<property name="text">
<string>Grid cell size</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gridCellSize">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_gridFromProjection">
<property name="title">
<string>Grid from 3D projection</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_projDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>8</number>
</property>
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Cloud decimation</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.400000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Cloud max depth</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_66">
<property name="text">
<string>Cluster size</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_67">
<property name="text">
<string>Max ground angle</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxAngle">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.790000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_projClusterSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Cloud min depth</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMinDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_posefiltering">
<property name="title">
@@ -1634,8 +1488,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>289</width>
<height>182</height>
<width>175</width>
<height>191</height>
</rect>
</property>
<attribute name="label">
@@ -2025,6 +1879,11 @@
<string>Export 3D laser scans (*.ply *.pcd) ...</string>
</property>
</action>
<action name="actionRegenerate_local_grid_maps">
<property name="text">
<string>Regenerate local grid maps...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>