DatabaseViewer 0 0 1547 965 Database viewer Qt::LeftToRight 0 0 0 0 0 0 Qt::ScrollBarAsNeeded true 0 0 307 389 Weight Gravity Children Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stamp Scan Sensors Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry Pose Parents Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Calib Prior Velocity Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map ID GPS Ground Truth Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Label Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Optimized Pose Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Edit Constraint ... Remove Prior X Qt::Horizontal 0 20 Qt::ScrollBarAsNeeded true 0 0 306 389 Map ID Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ground Truth Label Children Sensors Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stamp Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry Pose Scan Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Calib Gravity Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Parents Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Velocity Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Weight Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse GPS Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Prior Optimized Pose Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Edit Constraint ... Remove Prior X Qt::Horizontal 0 20 12 12 12 12 Index : Id : false idA Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove 12 12 12 12 Index : Id : false idB Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove QDialogButtonBox::Close 0 0 1547 22 File Export poses... Export GPS... Edit View Constraints view 2 0 Words Clouds true Scans true Odom Frame true Qt::Horizontal 0 20 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Neighbor links Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Loop closure links Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Type Optimized Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse σ (lin, ang), cov Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Edit Constraint ... Qt::Horizontal 40 20 Transform Refine with the registration strategy set in "Core Parameters"->"Reg" Refine Reset Add Enable "Add" for all nodes (even not in graph) Reject Qt::Horizontal 0 20 Graph view 1 0.0 deg Qt::ClickFocus -1799 1800 0 Qt::Horizontal QSlider::TicksAbove 100 <html><head/><body>The rotation will be applied temporary to optimized global graph. To save it to database, do File->"Regenerate optimized 2D map...".</body></html> Apply Rotation # Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove QComboBox::AdjustToContents Global Iterative Global Full Local Optimized Align poses with ground truth true false Root Span to all maps true WM Time grid (s) RMSE (m) true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Align scans/clouds with ground truth true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body>N: NeighborNM: Neighbor MergedG: GlobalLS: Local by Space (Proximity)LT: Local by Time (Proximity)U: UserP: PriorLM: LandmarkGR: Gravity</body></html> Links (N, NM, G, LS, LT, U, P, LM, GR) Path length (m) Poses Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore intermediate nodes true Time optimization (s) true Align poses with GPS true true false Qt::AllDockWidgetAreas GUI Parameters 1 0 0 0 0 1 Debug Info Warning Error Logger level true 1 0 0 314 188 Graph optimization false Ignore local loop closures (time) false Ignore global loop closures Ignore pose correction false false Qt::Vertical 0 40 false Ignore user loop closures Ignore local loop closures (space) Scale 3 0.100000000000000 9.900000000000000 0.001000000000000 1.000000000000000 Ignore landmarks false 0 -316 518 1071 Grid/cloud generation Ground cell color true Minimum depth confidence. true Show probabilistic occupancy grid in Graph View. true false true pixels 1 For stereo data, show disparity instead of right image in main views. true 1 16 16 ... true Crop radius when filtering empty space from 2d occupancy grid. true false Create RGB-D cloud from RGB projection on scan. true Local grid: regenerate from saved grid instead of sensors true OctoMap: Tree depth true OctoMap: Rendering type true Obstacle cell color true Gain compensation radius (Constraints view) true false false Show empty space true Show frontiers true OctoMap Voxel size (for clouds and scans) true Point Cloud Cube Volume 0 16 16 m 2 0.000000000000000 10.000000000000000 0.010000000000000 0.000000000000000 Frontier cell color true Empty cell color true Decimation (for images) true ... true m 3 0.000000000000000 99.000000000000000 0.010000000000000 0.000000000000000 ... true false ... true Depth's edge bleeding filtering error. true m 2 0.000000000000000 10.000000000000000 0.010000000000000 0.000000000000000 % 0 100 0 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 0 296 272 Detect more loop closures m 2 10.000000000000000 0.100000000000000 0.000000000000000 Radius Min Intra-session Qt::Vertical 20 40 Radius Max Angle degrees 0 180.000000000000000 1.000000000000000 30.000000000000000 m 2 10.000000000000000 0.100000000000000 1.000000000000000 1 100 5 Iterations Inter-session true Use optimized graph as guess true 0 0 428 196 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 0 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 0 0 0 1 Words false Cloud true Mesh false Scan true Map true Grid false Available if RTAB-Map is built with GridMap Elevation false true Adjust roll, pitch and height based on odometry pose Odom true Gravity true Qt::Horizontal 40 20 Info 2 QTextEdit::NoWrap true Core Parameters 1 0 0 0 0 Statistics 1 0 0 0 0 true Time (s) used in figures for x-axis instead of node IDs. true Occupancy Grid 4 0 0 0 0 0 0 Grid true 2d Map false Available if RTAB-Map is built with GridMap Elevation false true Qt::Horizontal 40 20 Open database Quit Generate graph (*.dot) ... Generate local graph (.dot) ... Export 3D map (*.ply *.pcd) ... Export database... Extract images... View 3D map... Refine links... Refine selected links with the registration strategy set in "Core Parameters"->"Reg", "Vis" and/or "Icp" Detect more loop closures... Save config Reset link and grid map changes Regenerate local grid maps... Regenerate local grid maps (selected)... Edit depth image... true false Vertical Layout true false Concise Layout Restore default GUI settings Raw format (*.txt) Raw format (12 values transform) RGBD-SLAM format (*.txt) RGBD-SLAM (stamp tx ty tz qx qy qz qw) KITTI format (*.txt) KITTI (stamp + 12 values transform) TORO (*.graph) g2o (*.g2o) Google Earth (*.kml) Raw format (*.txt) Google Earth (*.kml) Database recovery Close database Export optimized 2D map... Import optimized 2D map... View optimized mesh Export optimized mesh... Update optimized mesh... Update all neighbor covariances... Update all loop closure covariances... RGBD-SLAM motion capture format (*.txt) RGBD-SLAM (stamp tx ty tz qx qy qz qw) Edit optimized 2D map... Regenerate optimized 2D map... RGBD-SLAM ID format (*.txt) Update all landmark covariances... rtabmap::ImageView QWidget

../include/rtabmap/gui/ImageView.h

rtabmap::StatsToolBox QWidget

../include/rtabmap/gui/StatsToolBox.h

1 rtabmap::GraphViewer QGraphicsView

../include/rtabmap/gui/GraphViewer.h

rtabmap::ParametersToolBox QWidget

../include/rtabmap/gui/ParametersToolBox.h