DatabaseViewer 0 0 1285 857 Database viewer Qt::LeftToRight 0 0 0 Qt::ScrollBarAsNeeded true 0 0 202 196 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 0 201 196 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 1285 25 File Edit View Constraints view 2 0 Words Clouds true Scans 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 (Visual) Refine (ICP) 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 1 0 0 333 186 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 0 278 383 Grid/cloud generation Errode Grid cell size 3 0.010000000000000 0.010000000000000 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 true Fill depth holes: size pix 0 99 0 deg 1 180 15 pix 2 99 Quad Fill depth holes: error % 1 10 Qt::Vertical 0 0 0 0 201 117 Detect more loop closures m 2 10.000000000000000 0.100000000000000 0.300000000000000 Radius degrees 0 180.000000000000000 1.000000000000000 30.000000000000000 Angle 1 100 1 Iterations Qt::Vertical 20 40 0 0 175 191 ICP 1 Decimation true Max depth true Generate laser scans from RGB-D images 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 Mesh false Info 2 QTextEdit::NoWrap true Core Parameters 1 0 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)... ICP: Refine all neighbor links... ICP: Refine all loop closure links... Detect more loop closures... Visual: Refine all neighbor links... Visual: Refine all loop closure links... Save config Reset all changes Generate g2o graph (*.g2o)... View 3D laser scans... Export 3D laser scans (*.ply *.pcd) ... Regenerate local grid maps... rtabmap::ImageView QWidget

rtabmap/gui/ImageView.h

rtabmap::GraphViewer QGraphicsView

rtabmap/gui/GraphViewer.h

rtabmap::ParametersToolBox QWidget

ParametersToolBox.h

1