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rtabmap/guilib/src/ui/editConstraintDialog.ui
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matlabbe 379e11bd66 Supporting GTSAM bearing/range factors for landmarks (#1346) 
* Supporting GTSAM bearing/range factors for landmarks

* refreshing initial covariance after being modified in same sessions
2024-09-21 18:14:52 -07:00

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>EditConstraintDialog</class>
<widget class="QDialog" name="EditConstraintDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>393</width>
<height>360</height>
</rect>
</property>
<property name="windowTitle">
<string>Edit Constraint</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGroupBox" name="groupBox_pose">
<property name="title">
<string>Pose</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>x</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="x">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>roll</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QDoubleSpinBox" name="roll">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-3.150000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>y</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="y">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>pitch</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="pitch">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-3.150000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>z</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="z">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_6">
<property name="text">
<string>yaw</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="yaw">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-3.150000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_covariance">
<property name="title">
<string>Covariance</string>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1,0,1">
<item row="0" column="3">
<widget class="QDoubleSpinBox" name="angular_sigma_roll">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_10">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;σ pitch&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;σ x&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_8">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;σ roll&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="angular_sigma_pitch">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="linear_sigma_x">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="angular_sigma_yaw">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="linear_sigma_y">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="linear_sigma_z">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_11">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;σ yaw&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;σ y&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;σ z&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_9">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Setting σ to 0 will set 9999 covariance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QCheckBox" name="checkBox_radians">
<property name="text">
<string>Radians</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>buttonBox</sender>
<signal>accepted()</signal>
<receiver>EditConstraintDialog</receiver>
<slot>accept()</slot>
<hints>
<hint type="sourcelabel">
<x>248</x>
<y>254</y>
</hint>
<hint type="destinationlabel">
<x>157</x>
<y>274</y>
</hint>
</hints>
</connection>
<connection>
<sender>buttonBox</sender>
<signal>rejected()</signal>
<receiver>EditConstraintDialog</receiver>
<slot>reject()</slot>
<hints>
<hint type="sourcelabel">
<x>316</x>
<y>260</y>
</hint>
<hint type="destinationlabel">
<x>286</x>
<y>274</y>
</hint>
</hints>
</connection>
</connections>
</ui>
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