DatabaseViewer 0 0 1392 965 Database viewer Qt::LeftToRight 0 0 0 Qt::ScrollBarAsNeeded true 0 0 339 208 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Label Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stamp Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Weight Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map ID Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pose Parents Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Children Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Calib Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::ScrollBarAsNeeded true 0 0 339 208 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Parents Children Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Label Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stamp Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Weight Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map ID Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pose Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Calib Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 12 Index : Id : indexA idA Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove 12 Index : Id : indexB idB Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove QDialogButtonBox::Close 0 0 1392 22 File Edit View Constraints view 2 0 Words Clouds true Scans true Odom Frame true Qt::Horizontal 40 20 Neighbor links Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Loop closure links Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Type Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Transform Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse σ (rot, trans) Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Optimized Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Refine with the registration strategy set in "Core Parameters"->"Reg" Refine Reset Add Reject Qt::Horizontal 40 20 Graph view 1 # Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Poses Time optimization (s) Links (N, NM, G, LS, LT, U) Path length (m) Time grid (s) Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Graph root Span to all maps true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Qt::AllDockWidgetAreas GUI Parameters 1 Vertical layout Logger level 1 Debug Info Warning Error 2 0 0 324 207 Graph optimization false Ignore global loop closures 0 1000 0 Ignore pose correction false false Qt::Vertical 0 40 Depth (0=inf) Ignore user loop closures Ignore local loop closures (space) false false Ignore local loop closures (time) 0 0 280 608 Grid/cloud generation Errode Grid cell size 3 0.010000000000000 0.010000000000000 Gain compensation radius (Constraints view) true m 2 0.000000000000000 10.000000000000000 0.010000000000000 0.000000000000000 OctoMap Pose filtering true false degrees 0 180.000000000000000 30.000000000000000 m 0.010000000000000 0.100000000000000 Radius Angle Qt::Vertical 20 40 Organized Fast Mesh Triangle size Angle tolerance deg 1 180 15 pix 2 99 Quad Fill depth holes: error % 1 10 true Fill depth holes: size pix 0 99 0 Min cluster size 0 999 0 Qt::Vertical 20 40 Qt::Vertical 0 0 0 0 283 222 Detect more loop closures m 2 10.000000000000000 0.100000000000000 1.000000000000000 Radius degrees 0 180.000000000000000 1.000000000000000 30.000000000000000 Angle 1 100 5 Iterations Qt::Vertical 20 40 0 0 268 304 Refine -32 32 Decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Max depth true Generate laser scans from RGB-D images using the following parameters. true Qt::Vertical 20 0 Min depth true Stereo view 4 0 0 6 Inliers: Qt::RichText 0 Slope outliers: Qt::RichText 0 Negative disparity outliers: Qt::RichText 0 Flow outliers: Qt::RichText 0 Qt::Horizontal 40 20 3D view 4 0 0 1 Cloud true Mesh false Scan true Map true Grid false Odom Frame true Qt::Horizontal 40 20 Info 2 QTextEdit::NoWrap true Core Parameters 1 0 Statistics 1 0 Occupancy Grid 4 0 0 0 2d Map false Cubes Rendering false Empty Space false Depth 0 16 16 Qt::Horizontal 40 20 Open database Quit Generate graph (*.dot) ... Generate graph (only weighted locations) ... Clean database Generate local graph (.dot) ... Clean local graph ... Update base ids Export 3D map (*.ply *.pcd) ... Export database... Extract images... View 3D map... Generate TORO graph (*.graph)... Refine all neighbor links... Refine all neighbor links with the registration strategy set in "Core Parameters"->"Reg" Refine all loop closure links... Refine all loop closure links with the registration strategy set in "Core Parameters"->"Reg" Detect more loop closures... Save config Reset all changes Generate g2o graph (*.g2o)... View 2D-3D laser scans... Export 2D-3D laser scans (*.ply *.pcd) ... Regenerate local grid maps... Regenerate local grid maps (selected)... Edit depth image... rtabmap::ImageView QWidget

rtabmap/gui/ImageView.h

rtabmap::GraphViewer QGraphicsView

rtabmap/gui/GraphViewer.h

rtabmap::ParametersToolBox QWidget

ParametersToolBox.h

1 rtabmap::StatsToolBox QWidget

rtabmap/gui/StatsToolBox.h

1