i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1943 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-30 19:38:58 +00:00
parent 9358234e44
commit f12fc93639
9 changed files with 243 additions and 106 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
guilib/src/CloudViewer.cpp
View File

@@ -98,6 +98,7 @@ CloudViewer::~CloudViewer()
{
UDEBUG("");
this->removeAllClouds();
this->removeAllGraphs();
delete _visualizer;
}
@@ -423,6 +424,61 @@ void CloudViewer::removeOccupancyGridMap()
#endif
}
void CloudViewer::addOrUpdateGraph(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & graph,
const QColor & color)
{
if(id.empty())
{
UERROR("id should not be empty!");
return;
}
removeGraph(id);
if(graph->size())
{
_graphes.insert(std::make_pair(id, graph));
pcl::PolygonMesh mesh;
pcl::Vertices vertices;
vertices.vertices.resize(graph->size());
for(unsigned int i=0; i<vertices.vertices.size(); ++i)
{
vertices.vertices[i] = i;
}
pcl::toPCLPointCloud2(*graph, mesh.cloud);
mesh.polygons.push_back(vertices);
_visualizer->addPolylineFromPolygonMesh(mesh, id);
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, color.redF(), color.greenF(), color.blueF(), id);
}
}
void CloudViewer::removeGraph(const std::string & id)
{
if(id.empty())
{
UERROR("id should not be empty!");
return;
}
if(_graphes.find(id) != _graphes.end())
{
_visualizer->removeShape(id);
_graphes.erase(id);
}
}
void CloudViewer::removeAllGraphs()
{
for(std::map<std::string, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator iter = _graphes.begin(); iter!=_graphes.end(); ++iter)
{
_visualizer->removeShape(iter->first);
}
_graphes.clear();
}
void CloudViewer::setTrajectoryShown(bool shown)
{
_aShowTrajectory->setChecked(shown);

140
guilib/src/MainWindow.cpp
View File

@@ -735,14 +735,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
signature.uncompressData(); // make sure data are uncompressed
_cachedSignatures.insert(stat.getSignature().id(), signature);
// map ids
for(std::map<int, int>::const_iterator iter = stat.getMapIds().begin();
iter != stat.getMapIds().end();
++iter)
{
_mapIds.insert(iter->first, iter->second);
}
int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kLocalLoopOdom_corrected(), 0.0f);
@@ -936,7 +928,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// update pose only if odometry is not received
updateMapCloud(stat.poses(),
_odometryReceived||stat.poses().size()==0?Transform():stat.poses().rbegin()->second,
stat.constraints());
stat.constraints(),
stat.getMapIds());
_odometryReceived = false;
@@ -986,12 +979,14 @@ void MainWindow::updateMapCloud(
const std::map<int, Transform> & posesIn,
const Transform & currentPose,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIdsIn,
bool verboseProgress)
{
if(posesIn.size())
{
_currentPosesMap = posesIn;
_currentLinksMap = constraints;
_currentMapIds = mapIdsIn;
if(_currentPosesMap.size())
{
if(!_ui->actionSave_point_cloud->isEnabled() &&
@@ -1022,6 +1017,7 @@ void MainWindow::updateMapCloud(
// filter duplicated poses
std::map<int, Transform> poses;
std::map<int, int> mapIds;
if(_preferencesDialog->isCloudFiltering() && posesIn.size())
{
float radius = _preferencesDialog->getCloudFilteringRadius();
@@ -1029,11 +1025,26 @@ void MainWindow::updateMapCloud(
poses = util3d::radiusPosesFiltering(posesIn, radius, angle);
// make sure the last is here
poses.insert(*posesIn.rbegin());
for(std::map<int, Transform>::iterator iter= poses.begin(); iter!=poses.end(); ++iter)
{
std::map<int, int>::const_iterator jter = mapIdsIn.find(iter->first);
if(jter!=mapIdsIn.end())
{
mapIds.insert(*jter);
}
else
{
UERROR("map id of node %d not found!", iter->first);
}
}
}
else
{
poses = posesIn;
mapIds = mapIdsIn;
}
std::map<int, bool> posesMask;
for(std::map<int, Transform>::const_iterator iter = posesIn.begin(); iter!=posesIn.end(); ++iter)
{
@@ -1075,7 +1086,7 @@ void MainWindow::updateMapCloud(
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(!jter->getImageCompressed().empty() && !jter->getDepthCompressed().empty())
{
this->createAndAddCloudToMap(iter->first, iter->second);
this->createAndAddCloudToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
}
}
}
@@ -1110,7 +1121,7 @@ void MainWindow::updateMapCloud(
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(!jter->getDepth2DCompressed().empty())
{
this->createAndAddScanToMap(iter->first, iter->second);
this->createAndAddScanToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
}
}
if(!_preferencesDialog->isScansShown(0))
@@ -1139,6 +1150,7 @@ void MainWindow::updateMapCloud(
++i;
}
//remove not used clouds
for(QMap<std::string, Transform>::iterator iter = viewerClouds.begin(); iter!=viewerClouds.end(); ++iter)
{
@@ -1157,6 +1169,35 @@ void MainWindow::updateMapCloud(
}
}
// update 3D graphes (show all poses)
_ui->widget_cloudViewer->removeAllGraphs();
if(_preferencesDialog->isGraphsShown() && _currentPosesMap.size())
{
// Find all graphs
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > graphs;
for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
{
int mapId = uValue(_currentMapIds, iter->first, -1);
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator kter = graphs.find(mapId);
if(kter == graphs.end())
{
kter = graphs.insert(std::make_pair(mapId, pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>))).first;
}
kter->second->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
}
// add graphs
for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator iter=graphs.begin(); iter!=graphs.end(); ++iter)
{
QColor color = Qt::gray;
if(iter->first >= 0)
{
color = (Qt::GlobalColor)(iter->first % 12 + 7 );
}
_ui->widget_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
}
}
// Update occupancy grid map in 3D map view and graph view
if(_ui->graphicsView_graphView->isVisible() && constraints.size())
{
@@ -1234,7 +1275,7 @@ void MainWindow::updateMapCloud(
_ui->widget_cloudViewer->render();
}
void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId)
{
std::string cloudName = uFormat("cloud%d", nodeId);
if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
@@ -1250,6 +1291,11 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
return;
}
if(iter->getImageCompressed().empty() || iter->getDepthCompressed().empty())
{
return;
}
cv::Mat image, depth;
iter->uncompressData(&image, &depth, 0);
@@ -1322,7 +1368,6 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
QColor color = Qt::gray;
int mapId = _mapIds.value(nodeId, -1);
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
@@ -1341,7 +1386,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose)
void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int mapId)
{
std::string scanName = uFormat("scan%d", nodeId);
if(_ui->widget_cloudViewer->getAddedClouds().contains(scanName))
@@ -1356,27 +1401,30 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose)
UERROR("Node %d is not in the cache.", nodeId);
return;
}
cv::Mat depth2D;
iter->uncompressData(0, 0, &depth2D);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::depth2DToPointCloud(depth2D);
QColor color = Qt::red;
int mapId = _mapIds.value(nodeId, -1);
if(mapId >= 0)
if(!iter->getDepth2DCompressed().empty())
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
cv::Mat depth2D;
iter->uncompressData(0, 0, &depth2D);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::depth2DToPointCloud(depth2D);
QColor color = Qt::red;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
}
if(!_ui->widget_cloudViewer->addOrUpdateCloud(scanName, cloud, pose))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
_createdScans.insert(std::make_pair(nodeId, cloud));
}
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
}
if(!_ui->widget_cloudViewer->addOrUpdateCloud(scanName, cloud, pose))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
_createdScans.insert(std::make_pair(nodeId, cloud));
}
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
}
void MainWindow::updateNodeVisibility(int nodeId, bool visible)
@@ -1389,7 +1437,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
std::string cloudName = uFormat("cloud%d", nodeId);
if(visible && !viewerClouds.contains(cloudName))
{
createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second);
createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
else if(viewerClouds.contains(cloudName))
{
@@ -1407,7 +1455,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
std::string scanName = uFormat("scan%d", nodeId);
if(visible && !viewerClouds.contains(scanName))
{
createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second);
createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
else if(viewerClouds.contains(scanName))
{
@@ -1536,16 +1584,6 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_initProgressDialog->incrementStep();
QApplication::processEvents();
for(std::map<int, int>::const_iterator iter = event.getMapIds().begin();
iter!=event.getMapIds().end();
++iter)
{
_mapIds.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 map ids").arg(_mapIds.size()));
_initProgressDialog->incrementStep();
QApplication::processEvents();
_initProgressDialog->appendText("Inserting data in the cache... done.");
if(event.getPoses().size())
@@ -1553,7 +1591,7 @@ 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(), true);
this->updateMapCloud(event.getPoses(), Transform(), event.getConstraints(), event.getMapIds(), true);
_initProgressDialog->appendText("Updating the 3D map cloud... done.");
}
else
@@ -1609,7 +1647,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
UDEBUG("Cloud rendering settings changed...");
if(_currentPosesMap.size())
{
this->updateMapCloud(std::map<int, Transform>(_currentPosesMap), Transform(), std::multimap<int, Link>(_currentLinksMap));
this->updateMapCloud(_currentPosesMap, Transform(), _currentLinksMap, _currentMapIds);
}
}
@@ -2936,7 +2974,7 @@ void MainWindow::postProcessing()
_initProgressDialog->incrementStep();
_initProgressDialog->appendText(tr("Updating map..."));
this->updateMapCloud(optimizedPoses, Transform(), _currentLinksMap, false);
this->updateMapCloud(optimizedPoses, Transform(), _currentLinksMap, _currentMapIds, false);
_initProgressDialog->appendText(tr("Updating map... done!"));
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -3172,15 +3210,17 @@ void MainWindow::downloadPoseGraph()
void MainWindow::clearTheCache()
{
_cachedSignatures.clear();
_mapIds.clear();
_createdClouds.clear();
_createdScans.clear();
_occupancyLocalMaps.clear();
_ui->widget_cloudViewer->removeAllClouds();
_ui->widget_cloudViewer->removeAllGraphs();
_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
_ui->widget_cloudViewer->clearTrajectory();
_ui->widget_mapVisibility->clear();
_currentPosesMap.clear();
_currentLinksMap.clear();
_currentMapIds.clear();
_odometryCorrection = Transform::getIdentity();
_lastOdomPose.setNull();
//disable save cloud action
@@ -3506,7 +3546,7 @@ void MainWindow::viewScans()
_initProgressDialog->incrementStep();
QColor color = Qt::red;
int mapId = _mapIds.value(iter->first, -1);
int mapId = uValue(_currentMapIds, iter->first, -1);
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
@@ -3679,7 +3719,7 @@ void MainWindow::viewClouds()
_initProgressDialog->incrementStep();
QColor color = Qt::gray;
int mapId = _mapIds.value(iter->first, -1);
int mapId = uValue(_currentMapIds, iter->first, -1);
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );

14
guilib/src/PreferencesDialog.cpp
View File

@@ -189,6 +189,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingOpacityScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
connect(_ui->checkBox_showGraphs, 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()));
connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -801,6 +804,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingOpacityScan[i]->setValue(1.0);
_3dRenderingPtSizeScan[i]->setValue(1);
}
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_meshing->setChecked(false);
_ui->doubleSpinBox_gp3Radius->setValue(0.04);
_ui->spinBox_normalKSearch->setValue(20);
@@ -1032,6 +1038,8 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingOpacityScan[i]->setValue(settings.value(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()).toDouble());
_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_meshing->setChecked(settings.value("meshing", _ui->checkBox_meshing->isChecked()).toBool());
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
_ui->spinBox_normalKSearch->setValue(settings.value("meshNormalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
@@ -1274,6 +1282,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value());
settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
}
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("meshing", _ui->checkBox_meshing->isChecked());
settings.setValue("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value());
settings.setValue("meshNormalKSearch", _ui->spinBox_normalKSearch->value());
@@ -2531,6 +2541,10 @@ bool PreferencesDialog::isCloudsShown(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowClouds[index]->isChecked();
}
bool PreferencesDialog::isGraphsShown() const
{
return _ui->checkBox_showGraphs->isChecked();
}
bool PreferencesDialog::isCloudMeshing() const
{
return _ui->checkBox_meshing->isChecked();

110
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-316</y>
<width>744</width>
<height>905</height>
<height>1074</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>21</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -588,6 +588,16 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
@@ -597,7 +607,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="2">
<item row="4" column="2">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
@@ -663,7 +673,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
@@ -682,7 +692,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_odom">
<property name="suffix">
<string> m</string>
@@ -701,7 +711,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="2">
<item row="3" column="2">
<widget class="QLabel" name="label_107">
<property name="text">
<string>3D cloud voxel size.</string>
@@ -711,7 +721,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
@@ -724,7 +734,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QSpinBox" name="spinBox_decimation_odom">
<property name="minimum">
<number>1</number>
@@ -737,7 +747,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
@@ -756,7 +766,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<property name="suffix">
<string> m</string>
@@ -775,7 +785,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="2">
<item row="5" column="2">
<widget class="QLabel" name="label_132">
<property name="text">
<string>3D cloud maximum depth (0 means no limit).</string>
@@ -785,7 +795,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
<string/>
@@ -804,7 +814,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
@@ -823,7 +833,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="2">
<item row="6" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
<string>3D cloud opacity.</string>
@@ -833,7 +843,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
@@ -843,7 +853,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
@@ -853,7 +863,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_157">
<property name="text">
<string>3D cloud point size (1..64).</string>
@@ -863,17 +873,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="9" column="1">
<widget class="QCheckBox" name="checkBox_showOdomScans">
<property name="text">
<string/>
@@ -883,7 +883,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show 2D scans.</string>
@@ -893,7 +893,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="0">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
@@ -912,14 +912,14 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="0">
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="10" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
@@ -938,7 +938,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_156">
<property name="text">
<string>2D scan opacity.</string>
@@ -948,7 +948,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="1">
<item row="11" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
@@ -958,7 +958,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_158">
<property name="text">
<string>2D scan point size (1..64).</string>
@@ -968,7 +968,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="2">
<item row="15" 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>
@@ -978,7 +978,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="2">
<item row="17" column="2">
<widget class="QLabel" name="label_85">
<property name="text">
<string>Mesh smoothing using Moving Least Squares algorithm (MLS).</string>
@@ -988,7 +988,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="0">
<item row="15" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
<property name="suffix">
<string> m</string>
@@ -1007,7 +1007,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="0">
<item row="18" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
<property name="suffix">
<string> m</string>
@@ -1026,7 +1026,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="2">
<item row="13" column="2">
<widget class="QLabel" name="label_169">
<property name="text">
<string>Online meshing using Greedy Projection Triangulation (GP3).</string>
@@ -1036,7 +1036,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="2">
<item row="18" 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>
@@ -1046,7 +1046,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="0">
<item row="17" column="0">
<widget class="QCheckBox" name="checkBox_mls">
<property name="text">
<string/>
@@ -1056,7 +1056,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="11" column="2">
<item row="14" 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>
@@ -1066,13 +1066,33 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="11" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="12" column="2">
<widget class="QLabel" name="label_213">
<property name="text">
<string>Show graphs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>