mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added GPS class for convenience, database viewer can view GPS values and export to KML format
This commit is contained in:
matlabbe
@@ -51,8 +51,8 @@
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@@ -226,8 +226,8 @@
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</rect>
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</property>
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@@ -534,6 +534,14 @@
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<addaction name="actionKITTI_format_txt"/>
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<addaction name="actionTORO_graph"/>
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<addaction name="actionG2o_g2o"/>
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<addaction name="actionPoses_KML"/>
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</widget>
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<widget class="QMenu" name="menuExport_GPS">
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<property name="title">
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<string>Export GPS...</string>
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</property>
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<addaction name="actionGPS_TXT"/>
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<addaction name="actionGPS_KML"/>
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</widget>
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<addaction name="actionOpen_database"/>
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<addaction name="separator"/>
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@@ -543,6 +551,7 @@
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<addaction name="actionExport"/>
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<addaction name="actionExtract_images"/>
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<addaction name="menuExport_poses"/>
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<addaction name="menuExport_GPS"/>
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<addaction name="separator"/>
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<addaction name="actionQuit"/>
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</widget>
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@@ -898,7 +907,7 @@
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<item row="6" column="1">
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<widget class="QLabel" name="label_41">
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<property name="text">
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<string>Links (N, NM, G, LS, LT, U)</string>
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<string>Links (N, NM, G, LS, LT, U, P)</string>
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</property>
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</widget>
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</item>
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@@ -1187,8 +1196,8 @@
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</rect>
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<attribute name="label">
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@@ -1550,8 +1559,8 @@
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<rect>
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<width>201</width>
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<height>168</height>
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</rect>
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<attribute name="label">
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@@ -1650,8 +1659,8 @@
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<rect>
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<width>309</width>
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<height>256</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -2263,6 +2272,21 @@
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<string>g2o (*.g2o)</string>
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</property>
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</action>
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<action name="actionGPS_KML">
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<property name="text">
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<string>Google Earth (*.kml)</string>
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</property>
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</action>
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<action name="actionGPS_TXT">
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<property name="text">
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<string>Raw format (*.txt)</string>
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</property>
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</action>
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<action name="actionPoses_KML">
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<property name="text">
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<string>Google Earth (*.kml)</string>
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</property>
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</action>
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</widget>
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<customwidgets>
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<customwidget>
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@@ -63,25 +63,16 @@
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<property name="geometry">
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<rect>
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<y>-629</y>
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<width>678</width>
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<height>2739</height>
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<height>2749</height>
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<item>
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@@ -95,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>18</number>
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<number>14</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -4570,16 +4561,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="leftMargin">
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<item>
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@@ -8489,21 +8471,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="0" rowspan="2">
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<item row="4" column="0" rowspan="2">
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<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
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<property name="text">
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<string/>
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</widget>
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</item>
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<item row="3" column="1">
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<enum>Qt::Horizontal</enum>
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</widget>
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</item>
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<item row="4" column="1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_151">
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<property name="text">
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<string>Optimize graph from the newest node.</string>
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@@ -8516,7 +8498,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_211">
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<property name="text">
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<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
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@@ -8529,7 +8511,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<item row="7" column="1">
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<widget class="QLabel" name="label_183">
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<property name="text">
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<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
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@@ -8542,6 +8524,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_431">
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<property name="text">
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<string>Ignore pose priors.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="graphOptimization_priorsIgnored">
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<property name="text">
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<string/>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@@ -12653,16 +12655,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -12802,16 +12795,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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@@ -12969,16 +12953,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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@@ -13058,16 +13033,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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@@ -13179,16 +13145,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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