mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
14908e3a11
Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
88 lines
5.5 KiB
XML
88 lines
5.5 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
|
|
<menu xmlns:android="http://schemas.android.com/apk/res/android">
|
|
|
|
<group android:id="@+id/group_pause" android:checkableBehavior="all">
|
|
<item android:id="@+id/pause" android:checked="false" android:title="Pause"/>
|
|
</group>
|
|
|
|
<group android:id="@+id/group_actions">
|
|
<item android:id="@+id/post_processing" android:title="Post-Processing...">
|
|
<menu>
|
|
<item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
|
|
<item android:id="@+id/post_processing_advanced" android:title="Advanced..." >
|
|
<menu>
|
|
<item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
|
|
<item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
|
|
<item android:id="@+id/icp_refining" android:title="ICP Refining" />
|
|
<item android:id="@+id/gain_compensation_fast" android:title="Adjust Colors (Fast)" />
|
|
<item android:id="@+id/gain_compensation_full" android:title="Adjust Colors (Full)" />
|
|
<item android:id="@+id/bilateral_filtering" android:title="Mesh Smoothing" />
|
|
<item android:id="@+id/sba" android:title="Bundle Adjustement" />
|
|
<item android:id="@+id/polygons_filtering" android:title="Noise Filtering" />
|
|
</menu>
|
|
</item>
|
|
</menu>
|
|
</item>
|
|
<item android:id="@+id/open" android:title="Open"/>
|
|
<item android:id="@+id/export" android:title="Export...">
|
|
<menu>
|
|
<group android:id="@+id/group_export">
|
|
<item android:id="@+id/export_ply" android:title="Mesh (.ply)" />
|
|
<item android:id="@+id/export_obj" android:title="Mesh with texture (*.obj)" />
|
|
</group>
|
|
</menu>
|
|
</item>
|
|
<item android:id="@+id/save" android:title="Save"/>
|
|
<item android:id="@+id/reset" android:title="Reset"/>
|
|
|
|
<item android:id="@+id/menu_rendering_settings" android:title="Rendering Options...">
|
|
<menu >
|
|
<group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">
|
|
<item android:id="@+id/debug" android:checked="false" android:title="Debug" />
|
|
<item android:id="@+id/menu_rendering" android:checkable="false" android:title="Mesh Rendering..." >
|
|
<menu>
|
|
<group android:checkableBehavior="single">
|
|
<item android:id="@+id/point_cloud" android:title="Point Cloud" />
|
|
<item android:id="@+id/mesh" android:title="Mesh" />
|
|
<item android:id="@+id/texture_mesh" android:checked="true" android:title="Texture Mesh" />
|
|
</group>
|
|
<item android:id="@+id/mesh_angle_tolerance" android:checkable="false" android:title="Mesh Angle Tolerance..." />
|
|
<item android:id="@+id/mesh_triangle_size" android:checkable="false" android:title="Mesh Triangle Size..." />
|
|
<item android:id="@+id/max_depth" android:checkable="false" android:title="Max Depth..." />
|
|
</menu>
|
|
</item>
|
|
<item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" />
|
|
<item android:id="@+id/odom_shown" android:checked="true" android:title="Odom Visible" />
|
|
<item android:id="@+id/graph_visible" android:checked="true" android:title="Graph Visible" />
|
|
<item android:id="@+id/grid_visible" android:checked="true" android:title="Grid Visible" />
|
|
<item android:id="@+id/auto_exposure" android:checked="true" android:title="Auto Exposure" />
|
|
</group>
|
|
</menu>
|
|
</item>
|
|
<item android:id="@+id/menu_mapping_settings" android:title="Mapping Options...">
|
|
<menu >
|
|
<group android:id="@+id/group_mapping_visibility" android:checkableBehavior="all">
|
|
<item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" />
|
|
<item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
|
|
<item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
|
|
<item android:id="@+id/append" android:checked="true" android:title="Append Mode" />
|
|
<item android:id="@+id/nodes_filtering" android:checked="false" android:title="Nodes Filtering" />
|
|
<item android:id="@+id/drift_correction" android:checked="false" android:title="Drift Correction" />
|
|
<item android:id="@+id/resolution" android:checked="false" android:title="HD Mode" />
|
|
<item android:id="@+id/data_recorder" android:checked="false" android:title="Data Recorder Mode" />
|
|
<item android:id="@+id/menu_param_settings" android:checkable="false" android:title="Parameters...">
|
|
<menu >
|
|
<item android:id="@+id/update_rate" android:title="Map Update Rate..." />
|
|
<item android:id="@+id/time_threshold" android:title="Time Threshold..." />
|
|
<item android:id="@+id/loop_threshold" android:title="Loop Closure Threshold..." />
|
|
<item android:id="@+id/optimize_error" android:title="Max Optimization Error..." />
|
|
<item android:id="@+id/features" android:title="Max Features Extracted..." />
|
|
</menu>
|
|
</item>
|
|
</group>
|
|
</menu>
|
|
</item>
|
|
|
|
<item android:id="@+id/about" android:title="About"/>
|
|
</group>
|
|
</menu> |