mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-08 11:07:46 +08:00
Multi component view (#1729)
* Multi component view implemented except for rotations. Rotations can cause segfaults. * Implemented: handling rotations and applied rotations on optimized poses. Addition of a notion of main component (for saves in db) abd a node selection tool. * New feature: merge component using selected nodes * Refactored with suggestions. * Fixing QSet error on older Qt versions --------- Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Pierre ELIS
+336
-171
@@ -61,7 +61,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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||||
<width>364</width>
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||||
<width>344</width>
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||||
<height>389</height>
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||||
</rect>
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||||
</property>
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||||
@@ -392,7 +392,7 @@
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||||
<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>364</width>
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||||
<width>343</width>
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||||
<height>389</height>
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||||
</rect>
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||||
</property>
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||||
@@ -752,10 +752,19 @@
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||||
</widget>
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||||
</item>
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||||
<item>
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||||
<widget class="QLabel" name="label_idA">
|
||||
<widget class="QToolButton" name="button_nodeIdA">
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||||
<property name="toolTip">
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||||
<string>Click to locate in Graph View</string>
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||||
</property>
|
||||
<property name="text">
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||||
<string>idA</string>
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||||
</property>
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||||
<property name="toolButtonStyle">
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||||
<enum>Qt::ToolButtonTextOnly</enum>
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||||
</property>
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||||
<property name="autoRaise">
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||||
<bool>true</bool>
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||||
</property>
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||||
</widget>
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||||
</item>
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</layout>
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@@ -835,10 +844,19 @@
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_idB">
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<widget class="QToolButton" name="button_nodeIdB">
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<property name="toolTip">
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<string>Click to locate in Graph View</string>
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</property>
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||||
<property name="text">
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<string>idB</string>
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</property>
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<property name="toolButtonStyle">
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||||
<enum>Qt::ToolButtonTextOnly</enum>
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||||
</property>
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||||
<property name="autoRaise">
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||||
<bool>true</bool>
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||||
</property>
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</widget>
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</item>
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</layout>
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||||
@@ -914,10 +932,10 @@
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<addaction name="actionRestore_default_GUI_settings"/>
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<addaction name="separator"/>
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<addaction name="actionGenerate_3D_map_pcd"/>
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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="actionExport"/>
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<addaction name="separator"/>
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<addaction name="actionEdit_optimized_2D_map"/>
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<addaction name="actionExport_saved_2D_map"/>
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@@ -937,6 +955,7 @@
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<addaction name="actionGenerate_graph_dot"/>
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<addaction name="actionGenerate_local_graph_dot"/>
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<addaction name="separator"/>
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<addaction name="actionMerge_components_using_selected_nodes"/>
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<addaction name="actionDetect_more_loop_closures"/>
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<addaction name="actionRefine_links"/>
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<addaction name="actionUpdate_all_neighbor_covariances"/>
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@@ -948,6 +967,7 @@
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<addaction name="separator"/>
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<addaction name="actionEdit_depth_image"/>
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<addaction name="separator"/>
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<addaction name="actionClear_all_selected_nodes"/>
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<addaction name="actionReset_all_changes"/>
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<addaction name="separator"/>
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<addaction name="actionView_3D_map"/>
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@@ -1198,7 +1218,17 @@
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_5">
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<layout class="QHBoxLayout" name="horizontalLayout_23">
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<item>
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<widget class="QCheckBox" name="checkBox_optimize_on_all_changes">
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<property name="toolTip">
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<string>Re-optimize the graph right away after using any of these actions</string>
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</property>
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_refine">
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<property name="toolTip">
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@@ -1217,20 +1247,44 @@
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_add">
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<property name="text">
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<string>Add</string>
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<widget class="QFrame" name="frame">
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||||
<property name="frameShape">
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||||
<enum>QFrame::StyledPanel</enum>
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</property>
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||||
</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_enableForAll">
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<property name="toolTip">
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<string>Enable "Add" for all nodes (even not in graph)</string>
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</property>
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<property name="text">
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<string/>
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<property name="frameShadow">
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<enum>QFrame::Raised</enum>
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||||
</property>
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||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
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<property name="leftMargin">
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<number>0</number>
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||||
</property>
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||||
<property name="topMargin">
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||||
<number>0</number>
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||||
</property>
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||||
<property name="rightMargin">
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||||
<number>6</number>
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||||
</property>
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||||
<property name="bottomMargin">
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||||
<number>0</number>
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||||
</property>
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||||
<item>
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||||
<widget class="QPushButton" name="pushButton_add">
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||||
<property name="text">
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||||
<string>Add</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item>
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||||
<widget class="QCheckBox" name="checkBox_enableForAll">
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||||
<property name="toolTip">
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||||
<string>Enable "Add" for all nodes (even not in graph)</string>
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</property>
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||||
<property name="text">
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||||
<string/>
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||||
</property>
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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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<item>
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||||
@@ -1247,7 +1301,7 @@
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</property>
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<property name="sizeHint" stdset="0">
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||||
<size>
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||||
<width>0</width>
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<width>13</width>
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||||
<height>20</height>
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||||
</size>
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</property>
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@@ -1267,9 +1321,74 @@
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</attribute>
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||||
<widget class="QWidget" name="dockWidget_graphContents">
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<layout class="QVBoxLayout" name="verticalLayout_9">
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<item>
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||||
<layout class="QHBoxLayout" name="horizontalLayout_21">
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<item>
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>Interaction mode:</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QRadioButton" name="radioButton_graphHand">
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<property name="text">
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<string>Hand / Move</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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||||
<widget class="QRadioButton" name="radioButton_graphSelection">
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<property name="text">
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<string>Selection</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_9">
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<property name="orientation">
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||||
<enum>Qt::Horizontal</enum>
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||||
</property>
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||||
<property name="sizeHint" stdset="0">
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||||
<size>
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||||
<width>0</width>
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||||
<height>20</height>
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||||
</size>
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||||
</property>
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||||
</spacer>
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||||
</item>
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||||
</layout>
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</item>
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||||
<item>
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<widget class="rtabmap::GraphViewer" name="graphViewer"/>
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</item>
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<item>
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||||
<layout class="QHBoxLayout" name="horizontalLayout_22" stretch="0,1">
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<item>
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||||
<widget class="QLabel" name="graphComponentText">
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<property name="text">
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<string>Graph component</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item>
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||||
<widget class="QTabBar" name="tabBar_components" native="true">
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||||
<property name="documentMode" stdset="0">
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||||
<bool>true</bool>
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||||
</property>
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||||
<property name="usesScrollButtons" stdset="0">
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||||
<bool>true</bool>
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||||
</property>
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||||
<property name="expanding" stdset="0">
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||||
<bool>false</bool>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
</layout>
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||||
</item>
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||||
<item>
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||||
<widget class="QWidget" name="widget_graphControl" native="true">
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||||
<layout class="QVBoxLayout" name="verticalLayout_61">
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@@ -1292,6 +1411,9 @@
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||||
<layout class="QVBoxLayout" name="verticalLayout_91">
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||||
<item>
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||||
<layout class="QHBoxLayout" name="horizontalLayout_15">
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||||
<property name="spacing">
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||||
<number>6</number>
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||||
</property>
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||||
<item>
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||||
<widget class="QLabel" name="label_rotation">
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||||
<property name="text">
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@@ -1337,7 +1459,13 @@
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</layout>
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</item>
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<item>
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||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
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<layout class="QHBoxLayout" name="horizontalLayout_20"/>
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</item>
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||||
<item>
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||||
<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,0,0,0">
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<property name="spacing">
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<number>6</number>
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</property>
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<item>
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||||
<widget class="QLabel" name="label_iterations">
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<property name="text">
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@@ -1380,10 +1508,23 @@
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</item>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_fit_in_view">
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<property name="toolTip">
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||||
<string>After any graph changes, re-zoom to fit the whole map in the view</string>
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||||
</property>
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||||
<property name="text">
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||||
<string>Fit in view</string>
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</property>
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||||
</widget>
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</item>
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||||
</layout>
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||||
</item>
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<item>
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||||
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
|
||||
<property name="horizontalSpacing">
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||||
<number>6</number>
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||||
</property>
|
||||
<item row="1" column="1">
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||||
<widget class="QLabel" name="label_alignPosesWithGPS">
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||||
<property name="text">
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||||
@@ -1467,6 +1608,9 @@
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</item>
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||||
<item row="0" column="1">
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||||
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,1">
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||||
<property name="spacing">
|
||||
<number>6</number>
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||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_optimizeFrom">
|
||||
<property name="text">
|
||||
@@ -1722,7 +1866,7 @@
|
||||
<item>
|
||||
<widget class="QToolBox" name="toolBox">
|
||||
<property name="currentIndex">
|
||||
<number>2</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_3">
|
||||
<property name="geometry">
|
||||
@@ -1737,8 +1881,25 @@
|
||||
<string>Graph optimization</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_35">
|
||||
<property name="text">
|
||||
<string>Ignore pose correction</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreLandmarks">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreUserLoop">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -1754,16 +1915,6 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_48">
|
||||
<property name="text">
|
||||
@@ -1771,15 +1922,8 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_35">
|
||||
<property name="text">
|
||||
<string>Ignore pose correction</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -1788,13 +1932,10 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_58">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
<string>Ignore landmarks</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -1811,8 +1952,15 @@
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreUserLoop">
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Ignore local loop closures (space)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -1828,20 +1976,6 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Ignore local loop closures (space)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_scale_title">
|
||||
<property name="text">
|
||||
<string>Scale</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_optimizationScale">
|
||||
<property name="decimals">
|
||||
@@ -1861,15 +1995,25 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_58">
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
|
||||
<property name="text">
|
||||
<string>Ignore landmarks</string>
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignoreLandmarks">
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_scale_title">
|
||||
<property name="text">
|
||||
<string>Scale</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -2604,7 +2748,7 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-175</y>
|
||||
<y>0</y>
|
||||
<width>403</width>
|
||||
<height>319</height>
|
||||
</rect>
|
||||
@@ -2613,54 +2757,13 @@
|
||||
<string>Detect more loop closures</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_30">
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_31">
|
||||
<property name="text">
|
||||
<string>Angle</string>
|
||||
<string>Iterations</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_34">
|
||||
<property name="text">
|
||||
<string>Inter-session</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_detectMore_interSession">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_29">
|
||||
<property name="text">
|
||||
<string>Radius Max</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_32">
|
||||
<property name="text">
|
||||
<string>Intra-session</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
|
||||
<property name="suffix">
|
||||
@@ -2680,10 +2783,29 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="text">
|
||||
<string>Radius Min</string>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_fromToMapId">
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_minGraphDistance">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -2700,6 +2822,39 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_detectMore_interSession">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_34">
|
||||
<property name="text">
|
||||
<string>Inter-session</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_38">
|
||||
<property name="text">
|
||||
@@ -2707,20 +2862,23 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_31">
|
||||
<property name="text">
|
||||
<string>Iterations</string>
|
||||
<item row="9" column="0">
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_29">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<string>Radius Max</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -2750,6 +2908,16 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_37">
|
||||
<property name="text">
|
||||
@@ -2760,38 +2928,6 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_fromToMapId">
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_40">
|
||||
<property name="text">
|
||||
@@ -2799,16 +2935,24 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_minGraphDistance">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_30">
|
||||
<property name="text">
|
||||
<string>Angle</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_32">
|
||||
<property name="text">
|
||||
<string>Intra-session</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="text">
|
||||
<string>Radius Min</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -3021,7 +3165,7 @@
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<width>0</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
@@ -3391,7 +3535,7 @@
|
||||
</action>
|
||||
<action name="actionGenerate_3D_map_pcd">
|
||||
<property name="text">
|
||||
<string>Export 3D map (*.ply *.pcd) ...</string>
|
||||
<string>Export 3D map (*.ply *.pcd)...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionExport">
|
||||
@@ -3557,6 +3701,9 @@
|
||||
<property name="text">
|
||||
<string>Update optimized mesh...</string>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Available only for the Main component</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionUpdate_all_neighbor_covariances">
|
||||
<property name="text">
|
||||
@@ -3585,6 +3732,9 @@
|
||||
<property name="text">
|
||||
<string>Regenerate optimized 2D map...</string>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Available only for the Main component</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionRGBD_SLAM_ID_format_txt">
|
||||
<property name="text">
|
||||
@@ -3596,6 +3746,16 @@
|
||||
<string>Update all landmark covariances...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionMerge_components_using_selected_nodes">
|
||||
<property name="text">
|
||||
<string>Merge components...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionClear_all_selected_nodes">
|
||||
<property name="text">
|
||||
<string>Clear all selected nodes</string>
|
||||
</property>
|
||||
</action>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
@@ -3620,6 +3780,11 @@
|
||||
<header>../include/rtabmap/gui/ParametersToolBox.h</header>
|
||||
<container>1</container>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>QTabBar</class>
|
||||
<extends>QWidget</extends>
|
||||
<header>qtabbar.h</header>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources/>
|
||||
<connections/>
|
||||
|
||||
+180
-159
@@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>382</width>
|
||||
<height>331</height>
|
||||
<width>333</width>
|
||||
<height>520</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@@ -15,178 +15,199 @@
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QSpinBox" name="spinBox_ignored">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Frames ignored</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_framerate">
|
||||
<property name="suffix">
|
||||
<string> Hz</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Target frame rate</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QSpinBox" name="spinBox_session">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Mapping session (-1 = all)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_rgb">
|
||||
<property name="text">
|
||||
<string>RGB images</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="title">
|
||||
<string>Selection</string>
|
||||
</property>
|
||||
<layout class="QFormLayout" name="formLayout">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_session">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Mapping session (-1 = all)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_selected_nodes">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Selected nodes</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>Current component only</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_current_component">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_depth">
|
||||
<property name="text">
|
||||
<string>Depth images</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Filtering</string>
|
||||
</property>
|
||||
<layout class="QFormLayout" name="formLayout_2">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ignored">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Nodes ignored</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_framerate">
|
||||
<property name="suffix">
|
||||
<string> Hz</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Target frame rate</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_depth2d">
|
||||
<property name="text">
|
||||
<string>Laser scans</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="title">
|
||||
<string>Data</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_rgb">
|
||||
<property name="text">
|
||||
<string>RGB images</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_depth">
|
||||
<property name="text">
|
||||
<string>Depth images</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_depth2d">
|
||||
<property name="text">
|
||||
<string>Laser scans</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_odom">
|
||||
<property name="text">
|
||||
<string>Odometry</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_userData">
|
||||
<property name="text">
|
||||
<string>User data (planned goals)</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_odom">
|
||||
<property name="text">
|
||||
<string>Odometry</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="title">
|
||||
<string>Output Path</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="lineEdit_path">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QToolButton" name="toolButton_path">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_userData">
|
||||
<property name="text">
|
||||
<string>User data (planned goals)</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="lineEdit_path">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QToolButton" name="toolButton_path">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
|
||||
@@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>333</width>
|
||||
<height>286</height>
|
||||
<width>369</width>
|
||||
<height>344</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@@ -51,28 +51,21 @@
|
||||
<string>Range</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<item row="0" column="1">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>From</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<item row="3" column="0">
|
||||
<widget class="QRadioButton" name="radioButton_maps">
|
||||
<property name="text">
|
||||
<string>To</string>
|
||||
<string>Maps:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QRadioButton" name="radioButton_nodes">
|
||||
<property name="text">
|
||||
<string>Nodes:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_node_from">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -82,7 +75,7 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<item row="2" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_node_to">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -92,14 +85,21 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QRadioButton" name="radioButton_maps">
|
||||
<item row="4" column="0">
|
||||
<widget class="QRadioButton" name="radioButton_selected_nodes">
|
||||
<property name="text">
|
||||
<string>Maps:</string>
|
||||
<string>Nodes selected</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>To</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_map_from">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -112,7 +112,7 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<item row="3" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_map_to">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -125,6 +125,20 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QRadioButton" name="radioButton_nodes">
|
||||
<property name="text">
|
||||
<string>Nodes:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QRadioButton" name="radioButton_current_component">
|
||||
<property name="text">
|
||||
<string>Current component</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user