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The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes.

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This commit is contained in:
matlabbe
2015-01-07 17:30:20 -05:00
parent a979216fc1
commit 7f7d05e243
11 changed files with 309 additions and 198 deletions
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129
guilib/src/GraphViewer.cpp
View File

@@ -101,8 +101,10 @@ class LinkItem: public QGraphicsLineItem
{
public:
// in meter
LinkItem(const Transform & poseA, const Transform & poseB, bool loopClosure) :
LinkItem(int from, int to, const Transform & poseA, const Transform & poseB, bool loopClosure) :
QGraphicsLineItem(-poseA.y(), -poseA.x(), -poseB.y(), -poseB.x()),
_from(from),
_to(to),
_poseA(poseA),
_poseB(poseB),
_loopClosure(loopClosure)
@@ -125,6 +127,8 @@ public:
}
bool isLoopClosure() const {return _loopClosure;}
int from() const {return _from;}
int to() const {return _to;}
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
@@ -138,6 +142,8 @@ protected:
}
private:
int _from;
int _to;
Transform _poseA;
Transform _poseB;
bool _loopClosure;
@@ -195,39 +201,43 @@ GraphViewer::~GraphViewer()
void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints)
{
UDEBUG("poses=%d constraints=%d", (int)poses.size(), (int)constraints.size());
//Hide nodes and links
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
iter.value()->hide();
iter.value()->setColor(_nodeColor); // reset color
}
for(QMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
{
iter.value()->hide();
}
for(QMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end(); ++iter)
{
iter.value()->hide();
}
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
QMap<int, NodeItem*>::iterator itemIter = _nodeItems.find(iter->first);
if(itemIter != _nodeItems.end())
if(!iter->second.isNull())
{
itemIter.value()->setPose(iter->second);
itemIter.value()->show();
}
else
{
// create node item
const Transform & pose = iter->second;
NodeItem * item = new NodeItem(iter->first, pose, _nodeRadius);
this->scene()->addItem(item);
item->setZValue(2);
item->setColor(_nodeColor);
item->setParentItem(_root);
_nodeItems.insert(iter->first, item);
QMap<int, NodeItem*>::iterator itemIter = _nodeItems.find(iter->first);
if(itemIter != _nodeItems.end())
{
itemIter.value()->setPose(iter->second);
itemIter.value()->show();
}
else
{
// create node item
const Transform & pose = iter->second;
NodeItem * item = new NodeItem(iter->first, pose, _nodeRadius);
this->scene()->addItem(item);
item->setZValue(2);
item->setColor(_nodeColor);
item->setParentItem(_root);
_nodeItems.insert(iter->first, item);
}
}
}
@@ -235,28 +245,48 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
std::map<int, Transform>::const_iterator jterA = poses.find(iter->first);
std::map<int, Transform>::const_iterator jterB = poses.find(iter->second.to());
if(jterA != poses.end() && jterB != poses.end())
if(jterA != poses.end() && jterB != poses.end() &&
_nodeItems.contains(iter->first) && _nodeItems.contains(iter->second.to()))
{
const Transform & poseA = jterA->second;
const Transform & poseB = jterB->second;
bool loopClosure = iter->second.type() != Link::kNeighbor;
bool added = false;
if(loopClosure && _loopLinkItems.contains(iter->first))
{
QMap<int, LinkItem*>::iterator itemIter = _loopLinkItems.find(iter->first);
itemIter.value()->setPoses(poseA, poseB);
itemIter.value()->show();
QMultiMap<int, LinkItem*>::iterator itemIter = _loopLinkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _loopLinkItems.end())
{
if(itemIter.value()->to() == iter->second.to())
{
itemIter.value()->setPoses(poseA, poseB);
itemIter.value()->show();
added = true;
break;
}
++itemIter;
}
}
else if(!loopClosure && _neighborLinkItems.contains(iter->first))
{
QMap<int, LinkItem*>::iterator itemIter = _neighborLinkItems.find(iter->first);
itemIter.value()->setPoses(poseA, poseB);
itemIter.value()->show();
QMultiMap<int, LinkItem*>::iterator itemIter = _neighborLinkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _neighborLinkItems.end())
{
if(itemIter.value()->to() == iter->second.to())
{
itemIter.value()->setPoses(poseA, poseB);
itemIter.value()->show();
added = true;
break;
}
++itemIter;
}
}
else
if(!added)
{
//create a link item
LinkItem * item = new LinkItem(poseA, poseB, loopClosure);
LinkItem * item = new LinkItem(iter->first, iter->second.to(), poseA, poseB, loopClosure);
QPen p = item->pen();
p.setWidthF(_linkWidth);
item->setPen(p);
@@ -289,7 +319,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
++iter;
}
}
for(QMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end();)
for(QMultiMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end();)
{
if(!iter.value()->isVisible())
{
@@ -301,7 +331,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
++iter;
}
}
for(QMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end();)
for(QMultiMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end();)
{
if(!iter.value()->isVisible())
{
@@ -348,6 +378,35 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
}
}
void GraphViewer::updatePosterior(const std::map<int, float> & posterior)
{
//find max
float max = 0.0f;
for(std::map<int, float>::const_iterator iter = posterior.begin(); iter!=posterior.end(); ++iter)
{
if(iter->first > 0 && iter->second>max)
{
max = iter->second;
}
}
if(max > 0.0f)
{
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
std::map<int,float>::const_iterator jter = posterior.find(iter.key());
if(jter != posterior.end())
{
UDEBUG("id=%d max=%f hyp=%f color = %f", iter.key(), max, jter->second, (1-jter->second/max)*240.0f/360.0f);
iter.value()->setColor(QColor::fromHsvF((1-jter->second/max)*240.0f/360.0f, 1, 1, 1)); //0=red 240=blue
}
else
{
iter.value()->setColor(QColor::fromHsvF(240.0f/360.0f, 1, 1, 1)); // blue
}
}
}
}
void GraphViewer::clearGraph()
{
qDeleteAll(_nodeItems);
@@ -365,6 +424,14 @@ void GraphViewer::clearMap()
_gridMap->setPixmap(QPixmap());
}
void GraphViewer::clearPosterior()
{
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
iter.value()->setColor(Qt::blue); // blue
}
}
void GraphViewer::clearAll()
{
clearMap();
@@ -523,7 +590,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
else if(r == aSetNodeSize)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Node radius"), tr("Radius (m)"), _nodeRadius, 0.01, 1, 2, &ok);
double value = QInputDialog::getDouble(this, tr("Node radius"), tr("Radius (m)"), _nodeRadius, 0.01, 100, 2, &ok);
if(ok)
{
_nodeRadius = value;
@@ -541,7 +608,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
else if(r == aSetLinkSize)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Link width"), tr("Width (m)"), _linkWidth, 0, 1, 2, &ok);
double value = QInputDialog::getDouble(this, tr("Link width"), tr("Width (m)"), _linkWidth, 0, 100, 2, &ok);
if(ok)
{
_linkWidth = value;

6
guilib/src/GraphViewer.h
View File

@@ -51,8 +51,10 @@ public:
void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
void clearGraph();
void clearMap();
void clearPosterior();
void clearAll();
void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
@@ -68,8 +70,8 @@ private:
QColor _loopClosureColor;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMap<int, LinkItem*> _neighborLinkItems;
QMap<int, LinkItem*> _loopLinkItems;
QMultiMap<int, LinkItem*> _neighborLinkItems;
QMultiMap<int, LinkItem*> _loopLinkItems;
float _nodeRadius;
float _linkWidth;
QGraphicsPixmapItem * _gridMap;

97
guilib/src/MainWindow.cpp
View File

@@ -519,26 +519,6 @@ void MainWindow::handleEvent(UEvent* anEvent)
this->pauseDetection();
}
}
UDEBUG("stat.rawLikelihood().size()=%d", stats.rawLikelihood().size());
// Performance issue: don't process the pdf and likelihood if the last event is
// not yet completely processed, to avoid an unresponsive GUI when events accumulate.
if(_processingStatistics || !_ui->dockWidget_posterior->isVisible())
{
stats.setPosterior(std::map<int, float>());
}
if(_processingStatistics || !_ui->dockWidget_likelihood->isVisible())
{
stats.setLikelihood(std::map<int, float>());
}
if(_processingStatistics || !_ui->dockWidget_rawlikelihood->isVisible())
{
stats.setRawLikelihood(std::map<int, float>());
}
if(_processingStatistics || (!_ui->dockWidget_posterior->isVisible() && !_ui->dockWidget_likelihood->isVisible()))
{
stats.setWeights(std::map<int,int>());
}
emit statsReceived(stats);
}
else if(anEvent->getClassName().compare("RtabmapEventInit") == 0)
@@ -1058,6 +1038,13 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
}
}
// update posterior on the graph view
if(_preferencesDialog->isPosteriorGraphView() && _ui->graphicsView_graphView->isVisible() && stat.posterior().size())
{
_ui->graphicsView_graphView->updatePosterior(stat.posterior());
}
UDEBUG("");
}
else if(!stat.extended() && stat.loopClosureId()>0)
@@ -1082,6 +1069,8 @@ void MainWindow::updateMapCloud(
const std::map<int, int> & mapIdsIn,
bool verboseProgress)
{
UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d currentPose=%s",
(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), currentPose.prettyPrint().c_str());
if(posesIn.size())
{
_currentPosesMap = posesIn;
@@ -1243,10 +1232,6 @@ void MainWindow::updateMapCloud(
QApplication::processEvents();
}
}
else
{
UERROR("transform is null!?");
}
++i;
}
@@ -1299,7 +1284,7 @@ void MainWindow::updateMapCloud(
}
// Update occupancy grid map in 3D map view and graph view
if(_ui->graphicsView_graphView->isVisible() && constraints.size())
if(_ui->graphicsView_graphView->isVisible())
{
_ui->graphicsView_graphView->updateGraph(posesIn, constraints);
}
@@ -1377,6 +1362,7 @@ void MainWindow::updateMapCloud(
void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId)
{
UASSERT(!pose.isNull());
std::string cloudName = uFormat("cloud%d", nodeId);
if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
{
@@ -1602,18 +1588,45 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
!_emptyNewDatabase)
{
// Temp database used, automatically backup with unique name (timestamp)
QString newName = _preferencesDialog->getWorkingDirectory()+QDir::separator()+(QString("rtabmap_%1.db").arg(QDateTime::currentDateTime().toString("yyMMdd-hhmmsszzz")));
if(QFile::rename(_openedDatabasePath, newName))
QString newName = QDateTime::currentDateTime().toString("yyMMdd-hhmmsszzz");
bool ok = false;
newName = QInputDialog::getText(this, tr("Saving database..."), tr("Database name:"), QLineEdit::Normal, newName, &ok);
while(ok)
{
std::string msg = uFormat("Database saved to \"%s\".", newName.toStdString().c_str());
UINFO(msg.c_str());
QMessageBox::information(this, tr("Database saved!"), QString(msg.c_str()));
}
else
{
std::string msg = uFormat("Failed to rename temporary database from \"%s\" to \"%s\".", _openedDatabasePath.toStdString().c_str(), newName.toStdString().c_str());
UERROR(msg.c_str());
QMessageBox::critical(this, tr("Closing failed!"), QString(msg.c_str()));
QString newPath = _preferencesDialog->getWorkingDirectory()+QDir::separator()+newName+".db";
if(QFile::exists(newPath))
{
QMessageBox::StandardButton b = QMessageBox::question(this,
tr("Saving database..."),
tr("Database \"%1\" already exists, do you want to overwrite?").arg(newName+".db"),
QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
if(b == QMessageBox::Yes && QFile::remove(newPath))
{
UINFO("Deleted database \"%s\".", newPath.toStdString().c_str());
}
else
{
if(b == QMessageBox::Yes)
{
UERROR("Failed to erase database \"%s\"! Asking for new name...", newPath.toStdString().c_str());
}
newName = QInputDialog::getText(this, tr("Saving database..."), tr("Database name:"), QLineEdit::Normal, newName, &ok);
continue;
}
}
if(QFile::rename(_openedDatabasePath, newPath))
{
std::string msg = uFormat("Database saved to \"%s\".", newPath.toStdString().c_str());
UINFO(msg.c_str());
QMessageBox::information(this, tr("Database saved!"), QString(msg.c_str()));
}
else
{
std::string msg = uFormat("Failed to rename temporary database from \"%s\" to \"%s\".", _openedDatabasePath.toStdString().c_str(), (newName+".db").toStdString().c_str());
UERROR(msg.c_str());
QMessageBox::critical(this, tr("Closing failed!"), QString(msg.c_str()));
}
break;
}
}
_openedDatabasePath.clear();
@@ -1751,6 +1764,10 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
{
UDEBUG("General settings changed...");
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
if(!_preferencesDialog->isPosteriorGraphView() && _ui->graphicsView_graphView->isVisible())
{
_ui->graphicsView_graphView->clearPosterior();
}
}
if(flags & PreferencesDialog::kPanelCloudRendering)
@@ -1758,7 +1775,11 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
UDEBUG("Cloud rendering settings changed...");
if(_currentPosesMap.size())
{
this->updateMapCloud(_currentPosesMap, Transform(), _currentLinksMap, _currentMapIds);
this->updateMapCloud(
std::map<int, Transform>(_currentPosesMap),
Transform(),
std::multimap<int, Link>(_currentLinksMap),
std::map<int, int>(_currentMapIds));
}
}
@@ -3105,7 +3126,7 @@ void MainWindow::postProcessing()
_initProgressDialog->incrementStep();
_initProgressDialog->appendText(tr("Updating map..."));
this->updateMapCloud(optimizedPoses, Transform(), _currentLinksMap, _currentMapIds, false);
this->updateMapCloud(optimizedPoses, Transform(), std::multimap<int, Link>(_currentLinksMap), std::map<int, int>(_currentMapIds), false);
_initProgressDialog->appendText(tr("Updating map... done!"));
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());

11
guilib/src/PreferencesDialog.cpp
View File

@@ -153,6 +153,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->horizontalSlider_keypointsOpacity, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
// Cloud rendering panel
_3dRenderingShowClouds.resize(2);
@@ -554,7 +555,6 @@ void PreferencesDialog::init()
this->loadWindowGeometry("PreferencesDialog", this);
_obsoletePanels = kPanelAll;
_initialized = true;
}
@@ -819,6 +819,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_imageHighestHypShown->setChecked(false);
_ui->horizontalSlider_keypointsOpacity->setSliderPosition(20);
_ui->spinBox_odomQualityWarnThr->setValue(50);
_ui->checkBox_posteriorGraphView->setChecked(true);
}
else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName())
{
@@ -1059,6 +1060,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool());
_ui->horizontalSlider_keypointsOpacity->setValue(settings.value("keypointsOpacity", _ui->horizontalSlider_keypointsOpacity->value()).toInt());
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
for(int i=0; i<2; ++i)
{
@@ -1269,6 +1271,8 @@ void PreferencesDialog::writeSettings(const QString & filePath)
writeCameraSettings(filePath);
writeCoreSettings(filePath);
UDEBUG("_obsoletePanels=%d parameters=%d", (int)_obsoletePanels, (int)_parameters.size());
if(_parameters.size())
{
emit settingsChanged(_parameters);
@@ -1307,6 +1311,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue("beep", _ui->checkBox_beep->isChecked());
settings.setValue("keypointsOpacity", _ui->horizontalSlider_keypointsOpacity->value());
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
for(int i=0; i<2; ++i)
{
@@ -2651,6 +2656,10 @@ int PreferencesDialog::getOdomQualityWarnThr() const
{
return _ui->spinBox_odomQualityWarnThr->value();
}
bool PreferencesDialog::isPosteriorGraphView() const
{
return _ui->checkBox_posteriorGraphView->isChecked();
}
bool PreferencesDialog::isCloudsShown(int index) const
{

186
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>744</width>
<height>1056</height>
<width>732</width>
<height>1302</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>23</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -97,10 +97,7 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_28">
<item>
<layout class="QFormLayout" name="formLayout_14">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_39" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_imagesKept">
<property name="text">
@@ -145,24 +142,7 @@
<property name="title">
<string>Loop closure detection view</string>
</property>
<layout class="QFormLayout" name="formLayout_12">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_imageFlipped">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Flip image (like a mirror).</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_imageRejectedShown">
<property name="text">
@@ -173,10 +153,10 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_73">
<item row="3" column="1">
<widget class="QLabel" name="label_105">
<property name="text">
<string>Show image when an hypothesis is rejected.</string>
<string>Show the image of the highest hypothesis.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -193,17 +173,17 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_105">
<item row="1" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Show the image of the highest hypothesis.</string>
<string>Flip image (like a mirror).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QSlider" name="horizontalSlider_keypointsOpacity">
<property name="minimum">
<number>0</number>
@@ -219,10 +199,10 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_102">
<item row="2" column="1">
<widget class="QLabel" name="label_73">
<property name="text">
<string>Keypoints opacity.</string>
<string>Show image when an hypothesis is rejected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -249,6 +229,43 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_imageFlipped">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Keypoints opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_222">
<property name="text">
<string>Show loop closure hypotheses on the graph view. Nodes are colorized from blue to red depending on the highest hypothesis (which is red). Posterior hypotheses should be published. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_posteriorGraphView">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -257,7 +274,7 @@
<property name="title">
<string>3D Map view</string>
</property>
<layout class="QFormLayout" name="formLayout_23">
<layout class="QGridLayout" name="gridLayout_38" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
<property name="maximum">
@@ -1121,10 +1138,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<property name="title">
<string>Logging</string>
</property>
<layout class="QFormLayout" name="formLayout_11">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_40" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_loggerLevel">
<property name="currentIndex">
@@ -2282,10 +2296,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<layout class="QFormLayout" name="formLayout_17">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_43" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_SLAM_mode">
<property name="text">
@@ -2330,16 +2341,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_84">
<property name="text">
<string>Data buffer size (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize">
<property name="maximum">
@@ -2350,6 +2351,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_84">
<property name="text">
<string>Data buffer size (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_startNewMapOnLoopClosure">
<property name="text">
@@ -2377,10 +2388,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="title">
<string>Thresholds</string>
</property>
<layout class="QFormLayout" name="formLayout_18">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_44" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr">
<property name="suffix">
@@ -2487,10 +2495,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QFormLayout" name="formLayout_15">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_45" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_publishRawData">
<property name="text">
@@ -2553,10 +2558,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QFormLayout" name="formLayout_16">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_46" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_statisticLogsBufferedInRAM">
<property name="text">
@@ -2808,10 +2810,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QFormLayout" name="formLayout_10">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
@@ -2927,16 +2926,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
@@ -2947,6 +2936,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -3235,10 +3234,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<layout class="QFormLayout" name="formLayout_7">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_41" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_detector_strategy">
<item>
@@ -3395,14 +3391,14 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="4" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
@@ -3412,7 +3408,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix">
<string> %</string>
@@ -3422,7 +3418,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_97">
<property name="text">
<string>Left ROI ratio (0 = no change).</string>
@@ -3432,7 +3428,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix">
<string> %</string>
@@ -3442,7 +3438,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_98">
<property name="text">
<string>Right ROI ratio (0 = no change).</string>
@@ -3452,7 +3448,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="8" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix">
<string> %</string>
@@ -3462,7 +3458,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</string>
@@ -3472,7 +3468,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix">
<string> %</string>
@@ -3482,7 +3478,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_100">
<property name="text">
<string>Bottom ROI ratio (0 = no change).</string>