DatabaseViewer
0
0
1285
857
Database viewer
Qt::LeftToRight
0
0
-
-
-
-
0
-
Qt::ScrollBarAsNeeded
true
0
0
189
184
-
Parents
-
-
Children
-
-
Label
-
-
Stamp
-
-
Weight
-
-
Map ID
-
-
Pose
-
-
Qt::ScrollBarAsNeeded
true
0
0
187
184
-
-
Parents
-
Children
-
-
Label
-
-
Stamp
-
-
Weight
-
-
Map ID
-
-
Pose
-
-
12
-
-
Index :
-
Id :
-
-
indexA
-
idA
-
Qt::ClickFocus
Qt::Horizontal
QSlider::TicksAbove
-
12
-
-
Index :
-
Id :
-
-
indexB
-
idB
-
Qt::ClickFocus
Qt::Horizontal
QSlider::TicksAbove
-
QDialogButtonBox::Close
Constraints view
2
-
-
-
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
-
-
Transform
-
-
σ (rot, trans)
-
-
Optimized
-
-
-
Refine (Visual)
-
Refine (ICP)
-
Reset
-
Add
-
Reject
-
Qt::Horizontal
40
20
Graph view
1
-
-
-
#
-
Qt::ClickFocus
Qt::Horizontal
QSlider::TicksAbove
-
-
-
-
-
-
Poses
-
Time optimization (s)
-
Links (N, NM, G, LS, LT, U)
-
Path length (m)
-
Time grid (s)
-
-
-
Graph root
-
Span to all maps
true
-
false
Qt::AllDockWidgetAreas
GUI Parameters
1
-
-
Logger level
-
1
-
Debug
-
Info
-
Warning
-
Error
-
-
Vertical layout
-
3
0
0
324
188
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
297
411
Grid/cloud generation
-
-
m
0.010000000000000
5.000000000000000
0.010000000000000
0.050000000000000
-
Grid cell size
-
Errode
-
-
Fill unknown space
-
-
Grid from 3D projection
true
false
-
1
8
4
-
Cloud decimation
-
m
1
0.400000000000000
15.000000000000000
1.000000000000000
4.000000000000000
-
Cloud max depth
-
Cluster size
-
Max ground angle
-
rad
2
0.000000000000000
3.140000000000000
0.100000000000000
0.790000000000000
-
1
10000
20
-
Pose filtering
true
false
-
degrees
0
180.000000000000000
30.000000000000000
-
m
0.010000000000000
0.100000000000000
-
Radius
-
Angle
-
Qt::Vertical
20
40
0
0
297
126
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
297
134
ICP
-
1
-
Decimation
true
-
-
Max depth
true
-
-
Generate laser scans from RGB-D images
true
-
Qt::Vertical
20
0
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
-
-
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) ...
rtabmap::CloudViewer
QWidget
rtabmap/gui/CloudViewer.h
1
rtabmap::ImageView
QWidget
rtabmap::GraphViewer
QGraphicsView
rtabmap/gui/GraphViewer.h
rtabmap::ParametersToolBox
QWidget
1