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Labels shown in the GUI (added also "Label current location..." action in Detection menu)

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This commit is contained in:
matlabbe
2015-07-26 15:50:39 -04:00
parent a15ae81651
commit b358ffd45d
12 changed files with 277 additions and 48 deletions
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12
guilib/include/rtabmap/gui/CloudViewer.h
View File

@@ -151,6 +151,15 @@ public:
void removeGraph(const std::string & id);
void removeAllGraphs();
void addOrUpdateText(
const std::string & id,
const std::string & text,
const Transform & position,
double scale,
const QColor & color);
void removeText(const std::string & id);
void removeAllTexts();
bool isTrajectoryShown() const;
unsigned int getTrajectorySize() const;
void setTrajectoryShown(bool shown);
@@ -198,7 +207,7 @@ public slots:
void setCloudVisibility(const std::string & id, bool isVisible);
void setCloudOpacity(const std::string & id, double opacity = 1.0);
void setCloudPointSize(const std::string & id, int size);
virtual void clear() {removeAllClouds(); clearTrajectory();}
virtual void clear();
signals:
void configChanged();
@@ -234,6 +243,7 @@ private:
QMenu * _menu;
std::set<std::string> _graphes;
std::set<std::string> _coordinates;
std::set<std::string> _texts;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
unsigned int _gridCellCount;

12
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -147,6 +147,7 @@ private slots:
void dumpThePrediction();
void sendGoal();
void cancelGoal();
void label();
void downloadAllClouds();
void downloadPoseGraph();
void clearTheCache();
@@ -162,6 +163,7 @@ private slots:
void processRtabmapEventInit(int status, const QString & info);
void processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & event);
void processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event);
void processRtabmapLabelErrorEvent(int id, const QString & label);
void changeImgRateSetting();
void changeDetectionRateSetting();
void changeTimeLimitSetting();
@@ -195,6 +197,7 @@ signals:
void rtabmapEventInitReceived(int status, const QString & info);
void rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap & event);
void rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent & event);
void rtabmapLabelErrorReceived(int id, const QString & label);
void imgRateChanged(double);
void detectionRateChanged(double);
void timeLimitChanged(float);
@@ -205,7 +208,13 @@ signals:
private:
void update3DMapVisibility(bool cloudsShown, bool scansShown);
void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints, const std::map<int, int> & mapIds, bool verboseProgress = false);
void updateMapCloud(
const std::map<int, Transform> & poses,
const Transform & pose,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds,
const std::map<int, std::string> & labels,
bool verboseProgress = false);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
@@ -266,6 +275,7 @@ private:
std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _curentLabels; // <nodeId, label>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>

1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -140,6 +140,7 @@ public:
bool isPosteriorGraphView() const;
bool isGraphsShown() const;
bool isLabelsShown() const;
bool isCloudMeshing() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom
double getCloudVoxelSize(int index) const; // 0=map, 1=odom

64
guilib/src/CloudViewer.cpp
View File

@@ -146,9 +146,17 @@ CloudViewer::CloudViewer(QWidget *parent) :
CloudViewer::~CloudViewer()
{
UDEBUG("");
this->clear();
delete _visualizer;
}
void CloudViewer::clear()
{
this->removeAllClouds();
this->removeAllGraphs();
delete _visualizer;
this->removeAllCoordinates();
this->removeAllTexts();
this->clearTrajectory();
}
void CloudViewer::createMenu()
@@ -695,6 +703,60 @@ void CloudViewer::removeAllGraphs()
UASSERT(_graphes.empty());
}
void CloudViewer::addOrUpdateText(
const std::string & id,
const std::string & text,
const Transform & position,
double scale,
const QColor & color)
{
if(id.empty())
{
UERROR("id should not be empty!");
return;
}
removeCoordinate(id);
if(!position.isNull())
{
_texts.insert(id);
_visualizer->addText3D(
text,
pcl::PointXYZ(position.x(), position.y(), position.z()),
scale,
color.redF(),
color.greenF(),
color.blueF(),
id);
}
}
void CloudViewer::removeText(const std::string & id)
{
if(id.empty())
{
UERROR("id should not be empty!");
return;
}
if(_texts.find(id) != _coordinates.end())
{
_visualizer->removeText3D(id);
_texts.erase(id);
}
}
void CloudViewer::removeAllTexts()
{
std::set<std::string> texts = _texts;
for(std::set<std::string>::iterator iter = texts.begin(); iter!=texts.end(); ++iter)
{
this->removeText(*iter);
}
UASSERT(_texts.empty());
}
bool CloudViewer::isTrajectoryShown() const
{
return _aShowTrajectory->isChecked();

93
guilib/src/MainWindow.cpp
View File

@@ -261,7 +261,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap &)), this, SLOT(processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap &)));
qRegisterMetaType<rtabmap::RtabmapGlobalPathEvent>("rtabmap::RtabmapGlobalPathEvent");
connect(this, SIGNAL(rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent &)), this, SLOT(processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent &)));
connect(this, SIGNAL(rtabmapLabelErrorReceived(int, const QString &)), this, SLOT(processRtabmapLabelErrorEvent(int, const QString &)));
// Dock Widget view actions (Menu->Window)
_ui->menuShow_view->addAction(_ui->dockWidget_imageView->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_posterior->toggleViewAction());
@@ -295,6 +295,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
connect(_ui->actionSend_goal, SIGNAL(triggered()), this, SLOT(sendGoal()));
connect(_ui->actionCancel_goal, SIGNAL(triggered()), this, SLOT(cancelGoal()));
connect(_ui->actionLabel_current_location, SIGNAL(triggered()), this, SLOT(label()));
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
@@ -648,6 +649,11 @@ void MainWindow::handleEvent(UEvent* anEvent)
RtabmapGlobalPathEvent * rtabmapGlobalPathEvent = (RtabmapGlobalPathEvent*)anEvent;
emit rtabmapGlobalPathEventReceived(*rtabmapGlobalPathEvent);
}
else if(anEvent->getClassName().compare("RtabmapLabelErrorEvent") == 0)
{
RtabmapLabelErrorEvent * rtabmapLabelErrorEvent = (RtabmapLabelErrorEvent*)anEvent;
emit rtabmapLabelErrorReceived(rtabmapLabelErrorEvent->id(), QString(rtabmapLabelErrorEvent->label().c_str()));
}
else if(anEvent->getClassName().compare("CameraEvent") == 0)
{
CameraEvent * cameraEvent = (CameraEvent*)anEvent;
@@ -1222,14 +1228,20 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
// update pose only if odometry is not received
std::map<int, int> mapIds;
std::map<int, std::string> labels;
for(std::map<int, Signature>::const_iterator iter=stat.getSignatures().begin(); iter!=stat.getSignatures().end();++iter)
{
mapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
if(!iter->second.getLabel().empty())
{
labels.insert(std::make_pair(iter->first, iter->second.getLabel()));
}
}
updateMapCloud(stat.poses(),
_odometryReceived||stat.poses().size()==0?Transform():stat.poses().rbegin()->second,
stat.constraints(),
mapIds);
mapIds,
labels);
_odometryReceived = false;
@@ -1309,15 +1321,17 @@ void MainWindow::updateMapCloud(
const Transform & currentPose,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIdsIn,
const std::map<int, std::string> & labels,
bool verboseProgress)
{
UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d currentPose=%s",
(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), currentPose.prettyPrint().c_str());
UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d labelsIn=%d currentPose=%s",
(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), (int)labels.size(), currentPose.prettyPrint().c_str());
if(posesIn.size())
{
_currentPosesMap = posesIn;
_currentLinksMap = constraints;
_currentMapIds = mapIdsIn;
_curentLabels = labels;
if(_currentPosesMap.size())
{
if(!_ui->actionSave_point_cloud->isEnabled() &&
@@ -1542,6 +1556,30 @@ void MainWindow::updateMapCloud(
}
}
// Update labels
_ui->widget_cloudViewer->removeAllTexts();
if(_preferencesDialog->isLabelsShown() && labels.size())
{
for(std::map<int, std::string>::const_iterator iter=labels.begin(); iter!=labels.end(); ++iter)
{
if(posesIn.find(iter->first)!=posesIn.end())
{
int mapId = uValue(mapIdsIn, iter->first, -1);
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)((mapId+3) % 12 + 7 );
}
_ui->widget_cloudViewer->addOrUpdateText(
std::string("label_") + uNumber2Str(iter->first),
iter->second,
_currentPosesMap.at(iter->first),
0.1,
color);
}
}
}
// Update occupancy grid map in 3D map view and graph view
if(_ui->graphicsView_graphView->isVisible())
{
@@ -2059,11 +2097,16 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
int addedSignatures = 0;
std::map<int, int> mapIds;
std::map<int, std::string> labels;
for(std::map<int, Signature>::const_iterator iter = event.getSignatures().begin();
iter!=event.getSignatures().end();
++iter)
{
mapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
if(!iter->second.getLabel().empty())
{
labels.insert(std::make_pair(iter->first, iter->second.getLabel()));
}
if(!_cachedSignatures.contains(iter->first) ||
(_cachedSignatures.value(iter->first).sensorData().imageCompressed().empty() && !iter->second.sensorData().imageCompressed().empty()))
{
@@ -2084,7 +2127,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_initProgressDialog->appendText("Updating the 3D map cloud...");
_initProgressDialog->incrementStep();
QApplication::processEvents();
this->updateMapCloud(event.getPoses(), Transform(), event.getConstraints(), mapIds, true);
this->updateMapCloud(event.getPoses(), Transform(), event.getConstraints(), mapIds, labels, true);
_initProgressDialog->appendText("Updating the 3D map cloud... done.");
}
else
@@ -2142,6 +2185,21 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
}
}
void MainWindow::processRtabmapLabelErrorEvent(int id, const QString & label)
{
QMessageBox * warn = new QMessageBox(
QMessageBox::Warning,
tr("Setting label failed!"),
tr("Setting label %1 to location %2 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the map,\n"
"2) the location has already a label.").arg(label).arg(id),
QMessageBox::Ok,
this);
warn->setAttribute(Qt::WA_DeleteOnClose, true);
warn->show();
}
void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
{
ULOGGER_DEBUG("");
@@ -2197,7 +2255,8 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
std::map<int, Transform>(_currentPosesMap),
Transform(),
std::multimap<int, Link>(_currentLinksMap),
std::map<int, int>(_currentMapIds));
std::map<int, int>(_currentMapIds),
std::map<int, std::string>(_curentLabels));
}
}
@@ -3687,7 +3746,12 @@ void MainWindow::postProcessing()
_initProgressDialog->incrementStep();
_initProgressDialog->appendText(tr("Updating map..."));
this->updateMapCloud(optimizedPoses, Transform(), std::multimap<int, Link>(_currentLinksMap), std::map<int, int>(_currentMapIds), false);
this->updateMapCloud(
optimizedPoses, Transform(),
std::multimap<int, Link>(_currentLinksMap),
std::map<int, int>(_currentMapIds),
std::map<int, std::string>(_curentLabels),
false);
_initProgressDialog->appendText(tr("Updating map... done!"));
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -3848,6 +3912,17 @@ void MainWindow::cancelGoal()
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdCancelGoal));
}
void MainWindow::label()
{
UINFO("Labelling current location...");
bool ok = false;
QString label = QInputDialog::getText(this, tr("Label current location"), tr("Label: "), QLineEdit::Normal, "", &ok);
if(ok && !label.isEmpty())
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdLabel, label.toStdString(), 0));
}
}
void MainWindow::downloadAllClouds()
{
QStringList items;
@@ -3957,14 +4032,14 @@ void MainWindow::clearTheCache()
_createdScans.clear();
_gridLocalMaps.clear();
_projectionLocalMaps.clear();
_ui->widget_cloudViewer->removeAllClouds();
_ui->widget_cloudViewer->removeAllGraphs();
_ui->widget_cloudViewer->clear();
_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
_ui->widget_cloudViewer->clearTrajectory();
_ui->widget_mapVisibility->clear();
_currentPosesMap.clear();
_currentLinksMap.clear();
_currentMapIds.clear();
_curentLabels.clear();
_odometryCorrection = Transform::getIdentity();
_lastOdomPose.setNull();
//disable save cloud action

8
guilib/src/PreferencesDialog.cpp
View File

@@ -292,6 +292,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
}
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1007,6 +1008,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
}
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showLabels->setChecked(true);
_ui->checkBox_meshing->setChecked(false);
_ui->doubleSpinBox_gp3Radius->setValue(0.04);
@@ -1289,6 +1291,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
}
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
_ui->checkBox_meshing->setChecked(settings.value("meshing", _ui->checkBox_meshing->isChecked()).toBool());
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
@@ -1589,6 +1592,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
}
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
settings.setValue("meshing", _ui->checkBox_meshing->isChecked());
settings.setValue("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value());
@@ -3076,6 +3080,10 @@ bool PreferencesDialog::isGraphsShown() const
{
return _ui->checkBox_showGraphs->isChecked();
}
bool PreferencesDialog::isLabelsShown() const
{
return _ui->checkBox_showLabels->isChecked();
}
bool PreferencesDialog::isCloudMeshing() const
{
return _ui->checkBox_meshing->isChecked();

8
guilib/src/ui/mainWindow.ui
View File

@@ -63,6 +63,7 @@
<addaction name="actionGenerate_TORO_graph_graph"/>
<addaction name="actionExport_poses_txt"/>
<addaction name="actionPrint_loop_closure_IDs_to_console"/>
<addaction name="separator"/>
<addaction name="actionSend_goal"/>
<addaction name="actionCancel_goal"/>
</widget>
@@ -202,6 +203,8 @@
<addaction name="separator"/>
<addaction name="actionReset_Odometry"/>
<addaction name="actionTrigger_a_new_map"/>
<addaction name="separator"/>
<addaction name="actionLabel_current_location"/>
</widget>
<widget class="QMenu" name="menuWindow">
<property name="title">
@@ -1233,6 +1236,11 @@
<string>More options...</string>
</property>
</action>
<action name="actionLabel_current_location">
<property name="text">
<string>Label current location...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

89
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>755</width>
<height>1591</height>
<y>-625</y>
<width>760</width>
<height>1570</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -676,6 +676,25 @@ Show a yellow background when the number of odometry inliers goes under this thr
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
@@ -915,25 +934,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
@@ -1022,7 +1022,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
@@ -1084,7 +1084,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="2">
<item row="16" column="2">
<widget class="QLabel" name="label_168">
<property name="text">
<string>Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating (GP3). Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
@@ -1097,7 +1097,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="17" column="2">
<item row="18" column="2">
<widget class="QLabel" name="label_85">
<property name="text">
<string>Mesh smoothing using Moving Least Squares algorithm (MLS).</string>
@@ -1110,7 +1110,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
<property name="suffix">
<string> m</string>
@@ -1129,7 +1129,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="18" column="0">
<item row="19" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
<property name="suffix">
<string> m</string>
@@ -1148,7 +1148,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_169">
<property name="text">
<string>Online meshing using Greedy Projection Triangulation (GP3).</string>
@@ -1161,7 +1161,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="18" column="2">
<item row="19" column="2">
<widget class="QLabel" name="label_87">
<property name="text">
<string>MLS search radius: Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
@@ -1174,7 +1174,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QCheckBox" name="checkBox_mls">
<property name="text">
<string/>
@@ -1184,7 +1184,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="2">
<item row="15" column="2">
<widget class="QLabel" name="label_71">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation to create the mesh. Not used when mesh smoothing below is used.</string>
@@ -1197,7 +1197,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="value">
<number>20</number>
@@ -1227,6 +1227,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="2">
<widget class="QLabel" name="label_243">
<property name="text">
<string>Show labels.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_showLabels">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>