DatabaseViewer 0 0 1182 804 Database viewer 0 0 Qt::ScrollBarAsNeeded true 0 0 136 127 Parents Children Label Stamp Weight 12 Index : Id : indexA idA Qt::Horizontal QSlider::TicksAbove 0 Qt::ScrollBarAsNeeded true 0 0 137 127 Parents Children Label Stamp Weight 12 Index : Id : indexB idB Qt::Horizontal QSlider::TicksAbove 0 0 1182 25 File Edit View Constraints view 2 Neighbor links Qt::Horizontal QSlider::TicksAbove Loop closure links Qt::Horizontal QSlider::TicksAbove Type Transform σ (rot, trans) Optimized Show 3D words Refine (Visual) Refine (ICP) Reset Add Reject Qt::Horizontal 40 20 Graph view 1 # Qt::Horizontal QSlider::TicksAbove Total path length (m) Optimize from Time optimization (s) Time grid (s) true ICP parameters 8 Iteration Decimation Max depth Voxel Max correspondence distance Point to plane Normal K neighbors 2D icp (laser scans required) 1 16 8 m 2 100.000000000000000 2.000000000000000 m 3 1.000000000000000 0.010000000000000 m 3 0.001000000000000 1.000000000000000 0.050000000000000 1 1000 30 1 1000 20 false false Qt::Vertical 20 31 true Visual parameters 8 1 1000 30 m 2 100.000000000000000 4.000000000000000 NNDR Min correspondences 2D transform (x,y,yaw) m 3 0.001000000000000 1.000000000000000 0.020000000000000 m 1 0.100000000000000 1.000000000000000 0.100000000000000 0.900000000000000 Max feature depth 3 1000 10 Max correspondence distance Iteration Re-extract features true Feature type 4 SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK Nearest neighbor type 3 FLANN Naive FLANN Kd-Tree FLANN LSH Brute force Brute force GPU Qt::Vertical 20 40 Stereo view 4 3D view 4 Graph optimization parameters 8 Iterations TORO g2o 1 1000 100 2d SLAM Strategy Ignore covariance false false Depth (0=inf) 0 1000 0 Qt::Vertical 20 144 Grid/Cloud parameters 8 m 0.010000000000000 5.000000000000000 0.010000000000000 0.050000000000000 Grid cell size Errode Grid from 3D projection true false 1 8 4 Cloud decimation m 1 0.400000000000000 15.000000000000000 1.000000000000000 4.000000000000000 Cloud max depth Pose filtering true false degrees 0 180.000000000000000 30.000000000000000 m 0.010000000000000 0.100000000000000 Radius Angle Qt::Vertical 20 156 Detect more LCs parameters 4 m 2 10.000000000000000 0.100000000000000 0.300000000000000 Radius degrees 0 180.000000000000000 1.000000000000000 30.000000000000000 Angle 1 100 1 Iterations Qt::Vertical 20 150 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 (*.pcd) ... Export... 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 rtabmap::CloudViewer QWidget

rtabmap/gui/CloudViewer.h

1 rtabmap::ImageView QGraphicsView

rtabmap/gui/ImageView.h

rtabmap::GraphViewer QGraphicsView

GraphViewer.h