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

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1943 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Rtabmap.cpp

@@ -2145,9 +2145,7 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
 
 		for(std::set<int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
 		{
-			UDEBUG("");
 			Signature data = _memory->getSignatureData(*iter);
-			UDEBUG("");
 			if(data.id() != Memory::kIdInvalid)
 			{
 				signatures.insert(std::make_pair(*iter, Signature())).first->second = data;
@@ -2155,7 +2153,7 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
 			}
 		}
 	}
-	else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size()))
+	else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))
 	{
 		UERROR("Last working signature is null!?");
 	}

corelib/src/util3d.cpp

@@ -2889,13 +2889,13 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 		float & xMin,
 		float & yMin)
 {
-	UDEBUG("");
+	UDEBUG("poses=%d, scans = %d", poses.size(), scans.size());
 	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > localScans;
 
 	pcl::PointCloud<pcl::PointXYZ> minMax;
 	for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 	{
-		if(uContains(scans, iter->first) && scans.size())
+		if(uContains(scans, iter->first) && scans.at(iter->first)->size())
 		{
 			pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = transformPointCloud<pcl::PointXYZ>(scans.at(iter->first), iter->second);
 			pcl::PointXYZ min, max;

guilib/include/rtabmap/gui/CloudViewer.h

@@ -130,6 +130,13 @@ public:
 	void updateCameraPosition(
 		const Transform & pose);
 
+	void addOrUpdateGraph(
+			const std::string & id,
+			const pcl::PointCloud<pcl::PointXYZ>::Ptr & graph,
+			const QColor & color = Qt::gray);
+	void removeGraph(const std::string & id);
+	void removeAllGraphs();
+
 	void setTrajectoryShown(bool shown);
 	void setTrajectorySize(int value);
 	void clearTrajectory();
@@ -182,6 +189,7 @@ private:
     QAction * _aShowGrid;
     QAction * _aSetBackgroundColor;
     QMenu * _menu;
+    std::map<std::string, pcl::PointCloud<pcl::PointXYZ>::Ptr > _graphes;
     pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
     unsigned int _maxTrajectorySize;
     QMap<std::string, Transform> _addedClouds; // include cloud, scan, meshes

guilib/include/rtabmap/gui/MainWindow.h

@@ -194,9 +194,9 @@ signals:
 
 private:
 	void update3DMapVisibility(bool cloudsShown, bool scansShown);
-	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints, bool verboseProgress = false);
+	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints, const std::map<int, int> & mapIds, bool verboseProgress = false);
-	void createAndAddCloudToMap(int nodeId, const Transform & pose);
+	void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
-	void createAndAddScanToMap(int nodeId, const Transform & pose);
+	void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
 	void setupMainLayout(bool vertical);
 	void updateSelectSourceImageMenu(int type);
@@ -261,9 +261,9 @@ private:
 	bool _emptyNewDatabase;
 
 	QMap<int, Signature> _cachedSignatures;
-	QMap<int, int> _mapIds;
+	std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
-	std::map<int, Transform> _currentPosesMap;
+	std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
-	std::multimap<int, Link> _currentLinksMap;
+	std::map<int, int> _currentMapIds;   // <nodeId, mapId>
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
 	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
 	std::map<int, std::pair<cv::Mat, cv::Mat> > _occupancyLocalMaps; // <ground, obstacles>

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -121,6 +121,7 @@ public:
 	int getKeypointsOpacity() const;
 	int getOdomQualityWarnThr() const;
 
+	bool isGraphsShown() const;
 	bool isCloudMeshing() const;
 	bool isCloudsShown(int index) const;      // 0=map, 1=odom
 	double getCloudVoxelSize(int index) const; // 0=map, 1=odom

guilib/src/CloudViewer.cpp

@@ -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);

guilib/src/MainWindow.cpp

@@ -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))
@@ -1356,13 +1401,15 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose)
 		UERROR("Node %d is not in the cache.", nodeId);
 		return;
 	}
+
+	if(!iter->getDepth2DCompressed().empty())
+	{
 		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)
 		{
 			color = (Qt::GlobalColor)(mapId % 12 + 7 );
@@ -1378,6 +1425,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose)
 		_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 );

guilib/src/PreferencesDialog.cpp

@@ -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();

guilib/src/ui/preferencesDialog.ui

@@ -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">
+                       <item row="9" column="1">
-                        <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">
                         <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>