mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened
This commit is contained in:
matlabbe
@@ -822,30 +822,28 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
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}
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}
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void GraphViewer::updatePosterior(const std::map<int, float> & posterior, float fixedMax)
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void GraphViewer::updatePosterior(const std::map<int, float> & posterior, float max)
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{
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//find max
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float max = 0.0f;
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for(std::map<int, float>::const_iterator iter = posterior.begin(); iter!=posterior.end(); ++iter)
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if(max <= 0.0f)
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{
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if(iter->first > 0 && iter->second>max)
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for(std::map<int, float>::const_iterator iter = posterior.begin(); iter!=posterior.end(); ++iter)
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{
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max = iter->second;
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if(iter->first > 0 && iter->second>max)
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{
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max = iter->second;
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}
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}
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}
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if(max > 0.0f)
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{
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if(fixedMax > 0.0f && max < fixedMax)
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{
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max = fixedMax;
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}
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for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
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{
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std::map<int,float>::const_iterator jter = posterior.find(iter.key());
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if(jter != posterior.end())
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{
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//UDEBUG("id=%d max=%f hyp=%f color = %f", iter.key(), max, jter->second, (1-jter->second/max)*240.0f/360.0f);
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iter.value()->setColor(QColor::fromHsvF((1-jter->second/max)*240.0f/360.0f, 1, 1, 1)); //0=red 240=blue
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float v = jter->second>max?max:jter->second;
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iter.value()->setColor(QColor::fromHsvF((1-v/max)*240.0f/360.0f, 1, 1, 1)); //0=red 240=blue
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}
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else
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{
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@@ -1739,6 +1739,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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}
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_refIds.push_back(stat.refImageId());
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_loopClosureIds.push_back(matchId);
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if(matchId > 0)
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{
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_cachedLocalizationsCount[matchId] += 1.0f;
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}
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//update image views
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{
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@@ -1956,11 +1960,18 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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{
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_ui->graphicsView_graphView->updatePosterior(stat.posterior());
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}
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else if(_preferencesDialog->isWordsCountGraphView() &&
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_preferencesDialog->isRGBDMode() &&
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_cachedWordsCount.size())
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else if(_preferencesDialog->isRGBDMode())
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{
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_ui->graphicsView_graphView->updatePosterior(_cachedWordsCount, (float)_preferencesDialog->getKpMaxFeatures());
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if(_preferencesDialog->isWordsCountGraphView() &&
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_cachedWordsCount.size())
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{
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_ui->graphicsView_graphView->updatePosterior(_cachedWordsCount, (float)_preferencesDialog->getKpMaxFeatures());
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}
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else if(_preferencesDialog->isLocalizationsCountGraphView() &&
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_cachedLocalizationsCount.size())
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{
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_ui->graphicsView_graphView->updatePosterior(_cachedLocalizationsCount, 1.0f);
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}
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}
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// update local path on the graph view
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_ui->graphicsView_graphView->updateLocalPath(stat.localPath());
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@@ -6268,6 +6279,7 @@ void MainWindow::clearTheCache()
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_ui->label_stats_loopClosuresRejected->setText("0");
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_refIds.clear();
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_loopClosureIds.clear();
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_cachedLocalizationsCount.clear();
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_ui->label_refId->clear();
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_ui->label_matchId->clear();
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_ui->graphicsView_graphView->clearAll();
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@@ -354,6 +354,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->checkBox_odom_onlyInliersShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->radioButton_posteriorGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->radioButton_wordsGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->radioButton_localizationsGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->radioButton_nochangeGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->checkbox_odomDisabled, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->odom_registration, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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@@ -1488,6 +1489,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->checkBox_odom_onlyInliersShown->setChecked(false);
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_ui->radioButton_posteriorGraphView->setChecked(true);
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_ui->radioButton_wordsGraphView->setChecked(false);
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_ui->radioButton_localizationsGraphView->setChecked(false);
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_ui->radioButton_nochangeGraphView->setChecked(false);
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_ui->checkbox_odomDisabled->setChecked(false);
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_ui->checkbox_groundTruthAlign->setChecked(true);
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@@ -1906,6 +1908,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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_ui->checkBox_odom_onlyInliersShown->setChecked(settings.value("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked()).toBool());
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_ui->radioButton_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->radioButton_posteriorGraphView->isChecked()).toBool());
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_ui->radioButton_wordsGraphView->setChecked(settings.value("wordsGraphView", _ui->radioButton_wordsGraphView->isChecked()).toBool());
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_ui->radioButton_localizationsGraphView->setChecked(settings.value("localizationsGraphView", _ui->radioButton_localizationsGraphView->isChecked()).toBool());
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_ui->radioButton_nochangeGraphView->setChecked(settings.value("nochangeGraphView", _ui->radioButton_nochangeGraphView->isChecked()).toBool());
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_ui->checkbox_odomDisabled->setChecked(settings.value("odomDisabled", _ui->checkbox_odomDisabled->isChecked()).toBool());
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_ui->odom_registration->setCurrentIndex(settings.value("odomRegistration", _ui->odom_registration->currentIndex()).toInt());
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@@ -2326,6 +2329,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
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settings.setValue("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked());
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settings.setValue("posteriorGraphView", _ui->radioButton_posteriorGraphView->isChecked());
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settings.setValue("wordsGraphView", _ui->radioButton_wordsGraphView->isChecked());
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settings.setValue("localizationsGraphView", _ui->radioButton_localizationsGraphView->isChecked());
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settings.setValue("nochangeGraphView", _ui->radioButton_nochangeGraphView->isChecked());
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settings.setValue("odomDisabled", _ui->checkbox_odomDisabled->isChecked());
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settings.setValue("odomRegistration", _ui->odom_registration->currentIndex());
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@@ -4449,6 +4453,10 @@ bool PreferencesDialog::isWordsCountGraphView() const
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{
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return _ui->radioButton_wordsGraphView->isChecked();
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}
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bool PreferencesDialog::isLocalizationsCountGraphView() const
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{
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return _ui->radioButton_localizationsGraphView->isChecked();
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}
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bool PreferencesDialog::isOdomDisabled() const
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{
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return _ui->checkbox_odomDisabled->isChecked();
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@@ -94,8 +94,8 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-1144</y>
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<width>681</width>
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<y>0</y>
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<width>678</width>
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<height>2811</height>
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</rect>
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</property>
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@@ -103,16 +103,7 @@
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<property name="spacing">
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<number>0</number>
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</property>
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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>0</number>
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</property>
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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@@ -126,7 +117,7 @@
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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>0</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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@@ -309,6 +300,49 @@
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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="QGroupBox" name="groupBox_2">
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<property name="title">
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<string>Save/Load Settings</string>
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</property>
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<layout class="QHBoxLayout" name="horizontalLayout_9">
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<item>
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<widget class="QPushButton" name="pushButton_loadConfig">
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<property name="text">
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<string>Load settings (*.ini) ...</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_saveConfig">
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<property name="text">
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<string>Save settings (*.ini) ...</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_resetConfig">
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<property name="text">
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<string>Reset all settings</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_4">
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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>40</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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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_5">
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<property name="title">
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@@ -384,7 +418,16 @@
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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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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_29">
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<property name="title">
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<string>Graph View</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_104" columnstretch="0,1">
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<item row="0" column="1">
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<widget class="QLabel" name="label_222">
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<property name="text">
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<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>
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@@ -397,8 +440,8 @@
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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="QRadioButton" name="radioButton_posteriorGraphView">
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<item row="1" column="0">
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<widget class="QRadioButton" name="radioButton_wordsGraphView">
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<property name="text">
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<string/>
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</property>
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@@ -407,7 +450,17 @@
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</property>
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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="0" column="0">
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<widget class="QRadioButton" name="radioButton_posteriorGraphView">
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<property name="text">
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<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 row="1" column="1">
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<widget class="QLabel" name="label_478">
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<property name="text">
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<string>Show 3D visual words count on the graph view. Nodes are colorized from blue to red depending on the maximum visual features extracted (which is red).</string>
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@@ -420,24 +473,14 @@
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QRadioButton" name="radioButton_wordsGraphView">
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<property name="text">
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<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 row="5" column="0">
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<item row="3" column="0">
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<widget class="QRadioButton" name="radioButton_nochangeGraphView">
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||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
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<item row="5" column="1">
|
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<item row="3" column="1">
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<widget class="QLabel" name="label_479">
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<property name="text">
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<string>No change of graph color.</string>
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@@ -450,7 +493,38 @@
|
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_481">
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<property name="text">
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<string>Show nodes on which loop closures or localizations happened in red.</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>
|
||||
<property name="textInteractionFlags">
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||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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<item row="2" column="0">
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<widget class="QRadioButton" name="radioButton_localizationsGraphView">
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||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
<zorder>radioButton_posteriorGraphView</zorder>
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||||
<zorder>radioButton_wordsGraphView</zorder>
|
||||
<zorder>label_478</zorder>
|
||||
<zorder>label_222</zorder>
|
||||
<zorder>label_479</zorder>
|
||||
<zorder>radioButton_nochangeGraphView</zorder>
|
||||
<zorder>label_481</zorder>
|
||||
<zorder>radioButton_localizationsGraphView</zorder>
|
||||
</widget>
|
||||
</item>
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<item>
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@@ -509,49 +583,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
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</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Save/Load Settings</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_9">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_loadConfig">
|
||||
<property name="text">
|
||||
<string>Load settings (*.ini) ...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_saveConfig">
|
||||
<property name="text">
|
||||
<string>Save settings (*.ini) ...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_resetConfig">
|
||||
<property name="text">
|
||||
<string>Reset all settings</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<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>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -5053,16 +5084,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<string>Directory of images (optional settings)</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_93">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -15082,16 +15104,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -15171,16 +15184,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -15292,16 +15296,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user