mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
2e9634cf65
Added Feature2D::generateKeypoints3D() for convenience. Added parameter "Vis/PnPOpenCV2". Added parameter "Vis/ForwardEstOnly". Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1. Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...". In Registration class, add computeTransformationMod() method to modify input signatures. Added constructor Signature(SensorData) for convenience. Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required. Added Stereo::create() for convenience. Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience. DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience. MainWindow: fixed wrong Odometry speed values ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
1768 lines
54 KiB
XML
1768 lines
54 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
||
<ui version="4.0">
|
||
<class>DatabaseViewer</class>
|
||
<widget class="QMainWindow" name="DatabaseViewer">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>1285</width>
|
||
<height>857</height>
|
||
</rect>
|
||
</property>
|
||
<property name="windowTitle">
|
||
<string>Database viewer</string>
|
||
</property>
|
||
<property name="layoutDirection">
|
||
<enum>Qt::LeftToRight</enum>
|
||
</property>
|
||
<widget class="QWidget" name="centralwidget">
|
||
<layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0,0">
|
||
<property name="spacing">
|
||
<number>0</number>
|
||
</property>
|
||
<property name="margin">
|
||
<number>0</number>
|
||
</property>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_imageViews" stretch="1,1">
|
||
<item>
|
||
<widget class="rtabmap::ImageView" name="graphicsView_A" native="true"/>
|
||
</item>
|
||
<item>
|
||
<widget class="rtabmap::ImageView" name="graphicsView_B" native="true"/>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QGridLayout" name="gridLayout_11">
|
||
<property name="spacing">
|
||
<number>0</number>
|
||
</property>
|
||
<item row="0" column="0">
|
||
<widget class="QScrollArea" name="scrollArea_2">
|
||
<property name="horizontalScrollBarPolicy">
|
||
<enum>Qt::ScrollBarAsNeeded</enum>
|
||
</property>
|
||
<property name="widgetResizable">
|
||
<bool>true</bool>
|
||
</property>
|
||
<widget class="QWidget" name="scrollAreaWidgetContents_2">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
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||
<y>0</y>
|
||
<width>189</width>
|
||
<height>184</height>
|
||
</rect>
|
||
</property>
|
||
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
|
||
<item row="0" column="0">
|
||
<widget class="QLabel" name="label_parentsA_2">
|
||
<property name="text">
|
||
<string>Parents</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QLabel" name="label_parentsA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QLabel" name="label_childrenA_2">
|
||
<property name="text">
|
||
<string>Children</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QLabel" name="label_childrenA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<widget class="QLabel" name="label_childrenA_4">
|
||
<property name="text">
|
||
<string>Label</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="1">
|
||
<widget class="QLabel" name="label_labelA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="6" column="0">
|
||
<widget class="QLabel" name="label_childrenA_6">
|
||
<property name="text">
|
||
<string>Stamp</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="6" column="1">
|
||
<widget class="QLabel" name="label_stampA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QLabel" name="label_childrenA_8">
|
||
<property name="text">
|
||
<string>Weight</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_weightA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="0">
|
||
<widget class="QLabel" name="label_childrenA_10">
|
||
<property name="text">
|
||
<string>Map ID</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="1">
|
||
<widget class="QLabel" name="label_mapA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="0">
|
||
<widget class="QLabel" name="label_childrenA_12">
|
||
<property name="text">
|
||
<string>Pose</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="1">
|
||
<widget class="QLabel" name="label_poseA">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QScrollArea" name="scrollArea">
|
||
<property name="horizontalScrollBarPolicy">
|
||
<enum>Qt::ScrollBarAsNeeded</enum>
|
||
</property>
|
||
<property name="widgetResizable">
|
||
<bool>true</bool>
|
||
</property>
|
||
<widget class="QWidget" name="scrollAreaWidgetContents">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>187</width>
|
||
<height>184</height>
|
||
</rect>
|
||
</property>
|
||
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
|
||
<item row="0" column="1">
|
||
<widget class="QLabel" name="label_parentsB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="0">
|
||
<widget class="QLabel" name="label_parentsA_4">
|
||
<property name="text">
|
||
<string>Parents</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QLabel" name="label_childrenA_3">
|
||
<property name="text">
|
||
<string>Children</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QLabel" name="label_childrenB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<widget class="QLabel" name="label_childrenA_5">
|
||
<property name="text">
|
||
<string>Label</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="1">
|
||
<widget class="QLabel" name="label_labelB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="6" column="0">
|
||
<widget class="QLabel" name="label_childrenA_7">
|
||
<property name="text">
|
||
<string>Stamp</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="6" column="1">
|
||
<widget class="QLabel" name="label_stampB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QLabel" name="label_childrenA_9">
|
||
<property name="text">
|
||
<string>Weight</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_weightB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="0">
|
||
<widget class="QLabel" name="label_childrenA_11">
|
||
<property name="text">
|
||
<string>Map ID</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="1">
|
||
<widget class="QLabel" name="label_mapB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="0">
|
||
<widget class="QLabel" name="label_childrenA_13">
|
||
<property name="text">
|
||
<string>Pose</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="1">
|
||
<widget class="QLabel" name="label_poseB">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||
<property name="margin">
|
||
<number>12</number>
|
||
</property>
|
||
<item>
|
||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||
<item>
|
||
<widget class="QLabel" name="label_2">
|
||
<property name="text">
|
||
<string>Index :</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_3">
|
||
<property name="text">
|
||
<string>Id :</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||
<item>
|
||
<widget class="QLabel" name="label_indexA">
|
||
<property name="text">
|
||
<string>indexA</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_idA">
|
||
<property name="text">
|
||
<string>idA</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<widget class="QSlider" name="horizontalSlider_A">
|
||
<property name="focusPolicy">
|
||
<enum>Qt::ClickFocus</enum>
|
||
</property>
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="tickPosition">
|
||
<enum>QSlider::TicksAbove</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||
<property name="margin">
|
||
<number>12</number>
|
||
</property>
|
||
<item>
|
||
<layout class="QVBoxLayout" name="verticalLayout">
|
||
<item>
|
||
<widget class="QLabel" name="label_5">
|
||
<property name="text">
|
||
<string>Index :</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_4">
|
||
<property name="text">
|
||
<string>Id :</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||
<item>
|
||
<widget class="QLabel" name="label_indexB">
|
||
<property name="text">
|
||
<string>indexB</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_idB">
|
||
<property name="text">
|
||
<string>idB</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<widget class="QSlider" name="horizontalSlider_B">
|
||
<property name="focusPolicy">
|
||
<enum>Qt::ClickFocus</enum>
|
||
</property>
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="tickPosition">
|
||
<enum>QSlider::TicksAbove</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<widget class="QDialogButtonBox" name="buttonBox">
|
||
<property name="standardButtons">
|
||
<set>QDialogButtonBox::Close</set>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
<widget class="QMenuBar" name="menubar">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>1285</width>
|
||
<height>22</height>
|
||
</rect>
|
||
</property>
|
||
<widget class="QMenu" name="menuFile">
|
||
<property name="title">
|
||
<string>File</string>
|
||
</property>
|
||
<addaction name="actionOpen_database"/>
|
||
<addaction name="separator"/>
|
||
<addaction name="actionSave_config"/>
|
||
<addaction name="separator"/>
|
||
<addaction name="actionGenerate_3D_map_pcd"/>
|
||
<addaction name="actionExport_3D_laser_scans_ply_pcd"/>
|
||
<addaction name="actionExport"/>
|
||
<addaction name="actionExtract_images"/>
|
||
<addaction name="separator"/>
|
||
<addaction name="actionQuit"/>
|
||
</widget>
|
||
<widget class="QMenu" name="menuEdit">
|
||
<property name="title">
|
||
<string>Edit</string>
|
||
</property>
|
||
<addaction name="actionGenerate_graph_dot"/>
|
||
<addaction name="actionGenerate_local_graph_dot"/>
|
||
<addaction name="actionGenerate_TORO_graph_graph"/>
|
||
<addaction name="actionGenerate_g2o_graph_g2o"/>
|
||
<addaction name="separator"/>
|
||
<addaction name="actionDetect_more_loop_closures"/>
|
||
<addaction name="actionVisual_Refine_all_neighbor_links"/>
|
||
<addaction name="actionRefine_all_neighbor_links"/>
|
||
<addaction name="actionVisual_Refine_all_loop_closure_links"/>
|
||
<addaction name="actionRefine_all_loop_closure_links"/>
|
||
<addaction name="separator"/>
|
||
<addaction name="actionReset_all_changes"/>
|
||
<addaction name="separator"/>
|
||
<addaction name="actionView_3D_map"/>
|
||
<addaction name="actionView_3D_laser_scans"/>
|
||
</widget>
|
||
<widget class="QMenu" name="menuView">
|
||
<property name="title">
|
||
<string>View</string>
|
||
</property>
|
||
</widget>
|
||
<addaction name="menuFile"/>
|
||
<addaction name="menuEdit"/>
|
||
<addaction name="menuView"/>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_constraints">
|
||
<property name="windowTitle">
|
||
<string>Constraints view</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>2</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents">
|
||
<layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0,0">
|
||
<item>
|
||
<widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
|
||
</item>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_10">
|
||
<item>
|
||
<widget class="QCheckBox" name="checkBox_show3DWords">
|
||
<property name="text">
|
||
<string>Words</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QCheckBox" name="checkBox_show3Dclouds">
|
||
<property name="text">
|
||
<string>Clouds</string>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QCheckBox" name="checkBox_show2DScans">
|
||
<property name="text">
|
||
<string>Scans</string>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<spacer name="horizontalSpacer_3">
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>40</width>
|
||
<height>20</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0">
|
||
<item row="0" column="0">
|
||
<widget class="QLabel" name="label">
|
||
<property name="text">
|
||
<string>Neighbor links</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QSlider" name="horizontalSlider_neighbors">
|
||
<property name="focusPolicy">
|
||
<enum>Qt::ClickFocus</enum>
|
||
</property>
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="tickPosition">
|
||
<enum>QSlider::TicksAbove</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QLabel" name="label_6">
|
||
<property name="text">
|
||
<string>Loop closure links</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QSlider" name="horizontalSlider_loops">
|
||
<property name="focusPolicy">
|
||
<enum>Qt::ClickFocus</enum>
|
||
</property>
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="tickPosition">
|
||
<enum>QSlider::TicksAbove</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QLabel" name="label_33">
|
||
<property name="text">
|
||
<string>Type</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_type">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<widget class="QLabel" name="label_16">
|
||
<property name="text">
|
||
<string>Transform</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="1">
|
||
<widget class="QLabel" name="label_constraint">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="0">
|
||
<widget class="QLabel" name="label_18">
|
||
<property name="text">
|
||
<string>σ (rot, trans)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="1">
|
||
<widget class="QLabel" name="label_variance">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="0">
|
||
<widget class="QCheckBox" name="checkBox_showOptimized">
|
||
<property name="text">
|
||
<string>Optimized</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="1">
|
||
<widget class="QLabel" name="label_constraint_opt">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||
<item>
|
||
<widget class="QPushButton" name="pushButton_refineVisually">
|
||
<property name="text">
|
||
<string>Refine (Visual)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="pushButton_refine">
|
||
<property name="text">
|
||
<string>Refine (ICP)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="pushButton_reset">
|
||
<property name="text">
|
||
<string>Reset</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="pushButton_add">
|
||
<property name="text">
|
||
<string>Add</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="pushButton_reject">
|
||
<property name="text">
|
||
<string>Reject</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>
|
||
</layout>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_graphView">
|
||
<property name="windowTitle">
|
||
<string>Graph view</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>1</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents_2">
|
||
<layout class="QVBoxLayout" name="verticalLayout_9">
|
||
<item>
|
||
<widget class="rtabmap::GraphViewer" name="graphViewer"/>
|
||
</item>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||
<item>
|
||
<widget class="QLabel" name="label_iterations">
|
||
<property name="text">
|
||
<string>#</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QSlider" name="horizontalSlider_iterations">
|
||
<property name="focusPolicy">
|
||
<enum>Qt::ClickFocus</enum>
|
||
</property>
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="tickPosition">
|
||
<enum>QSlider::TicksAbove</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
|
||
<item row="6" column="0">
|
||
<widget class="QLabel" name="label_loopClosures">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="0">
|
||
<widget class="QLabel" name="label_timeGrid">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<widget class="QLabel" name="label_timeOptimization">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="0">
|
||
<widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
|
||
</item>
|
||
<item row="5" column="1">
|
||
<widget class="QLabel" name="label_52">
|
||
<property name="text">
|
||
<string>Poses</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="1">
|
||
<widget class="QLabel" name="label_39">
|
||
<property name="text">
|
||
<string>Time optimization (s)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="6" column="1">
|
||
<widget class="QLabel" name="label_41">
|
||
<property name="text">
|
||
<string>Links (N, NM, G, LS, LT, U)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_10">
|
||
<property name="text">
|
||
<string>Path length (m)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="1">
|
||
<widget class="QLabel" name="label_45">
|
||
<property name="text">
|
||
<string>Time grid (s)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QLabel" name="label_pathLength">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
|
||
<item>
|
||
<widget class="QLabel" name="label_optimizeFrom">
|
||
<property name="text">
|
||
<string>Graph root</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QCheckBox" name="checkBox_spanAllMaps">
|
||
<property name="text">
|
||
<string>Span to all maps</string>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item row="5" column="0">
|
||
<widget class="QLabel" name="label_poses">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_guiparameters">
|
||
<property name="floating">
|
||
<bool>false</bool>
|
||
</property>
|
||
<property name="allowedAreas">
|
||
<set>Qt::AllDockWidgetAreas</set>
|
||
</property>
|
||
<property name="windowTitle">
|
||
<string>GUI Parameters</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>1</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents_3">
|
||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||
<item>
|
||
<layout class="QGridLayout" name="gridLayout_4">
|
||
<item row="0" column="2">
|
||
<widget class="QLabel" name="label_logger_level">
|
||
<property name="text">
|
||
<string>Logger level</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QComboBox" name="comboBox_logger_level">
|
||
<property name="currentIndex">
|
||
<number>1</number>
|
||
</property>
|
||
<item>
|
||
<property name="text">
|
||
<string>Debug</string>
|
||
</property>
|
||
</item>
|
||
<item>
|
||
<property name="text">
|
||
<string>Info</string>
|
||
</property>
|
||
</item>
|
||
<item>
|
||
<property name="text">
|
||
<string>Warning</string>
|
||
</property>
|
||
</item>
|
||
<item>
|
||
<property name="text">
|
||
<string>Error</string>
|
||
</property>
|
||
</item>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QCheckBox" name="checkBox_verticalLayout">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="2">
|
||
<widget class="QLabel" name="label_logger_level_2">
|
||
<property name="text">
|
||
<string>Vertical layout</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<widget class="QToolBox" name="toolBox">
|
||
<property name="currentIndex">
|
||
<number>3</number>
|
||
</property>
|
||
<widget class="QWidget" name="page_3">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>324</width>
|
||
<height>188</height>
|
||
</rect>
|
||
</property>
|
||
<attribute name="label">
|
||
<string>Graph optimization</string>
|
||
</attribute>
|
||
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
|
||
<item row="3" column="0">
|
||
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="2">
|
||
<widget class="QLabel" name="label_48">
|
||
<property name="text">
|
||
<string>Ignore global loop closures</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QSpinBox" name="spinBox_optimizationDepth">
|
||
<property name="suffix">
|
||
<string/>
|
||
</property>
|
||
<property name="minimum">
|
||
<number>0</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<number>1000</number>
|
||
</property>
|
||
<property name="value">
|
||
<number>0</number>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="2">
|
||
<widget class="QLabel" name="label_35">
|
||
<property name="text">
|
||
<string>Ignore pose correction</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="0">
|
||
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="6" column="0">
|
||
<spacer name="verticalSpacer_3">
|
||
<property name="orientation">
|
||
<enum>Qt::Vertical</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>0</width>
|
||
<height>40</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
<item row="0" column="2">
|
||
<widget class="QLabel" name="label_8">
|
||
<property name="text">
|
||
<string>Depth (0=inf)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="2">
|
||
<widget class="QLabel" name="label_50">
|
||
<property name="text">
|
||
<string>Ignore user loop closures</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="2">
|
||
<widget class="QLabel" name="label_47">
|
||
<property name="text">
|
||
<string>Ignore local loop closures (space)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="0">
|
||
<widget class="QCheckBox" name="checkBox_ignoreUserLoop">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="2">
|
||
<widget class="QLabel" name="label_49">
|
||
<property name="text">
|
||
<string>Ignore local loop closures (time)</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
<widget class="QWidget" name="page_4">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>297</width>
|
||
<height>411</height>
|
||
</rect>
|
||
</property>
|
||
<attribute name="label">
|
||
<string>Grid/cloud generation</string>
|
||
</attribute>
|
||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||
<item>
|
||
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
|
||
<item row="0" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gridCellSize">
|
||
<property name="suffix">
|
||
<string> m</string>
|
||
</property>
|
||
<property name="minimum">
|
||
<double>0.010000000000000</double>
|
||
</property>
|
||
<property name="maximum">
|
||
<double>5.000000000000000</double>
|
||
</property>
|
||
<property name="singleStep">
|
||
<double>0.010000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>0.050000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QLabel" name="label_36">
|
||
<property name="text">
|
||
<string>Grid cell size</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QLabel" name="label_44">
|
||
<property name="text">
|
||
<string>Errode</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QCheckBox" name="checkBox_gridErode">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_64">
|
||
<property name="text">
|
||
<string>Fill unknown space</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QCheckBox" name="checkBox_gridFillUnkownSpace">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<widget class="QGroupBox" name="groupBox_gridFromProjection">
|
||
<property name="title">
|
||
<string>Grid from 3D projection</string>
|
||
</property>
|
||
<property name="checkable">
|
||
<bool>true</bool>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
|
||
<item row="0" column="0">
|
||
<widget class="QSpinBox" name="spinBox_projDecimation">
|
||
<property name="minimum">
|
||
<number>1</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<number>8</number>
|
||
</property>
|
||
<property name="value">
|
||
<number>4</number>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QLabel" name="label_37">
|
||
<property name="text">
|
||
<string>Cloud decimation</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxDepth">
|
||
<property name="suffix">
|
||
<string> m</string>
|
||
</property>
|
||
<property name="decimals">
|
||
<number>1</number>
|
||
</property>
|
||
<property name="minimum">
|
||
<double>0.400000000000000</double>
|
||
</property>
|
||
<property name="maximum">
|
||
<double>15.000000000000000</double>
|
||
</property>
|
||
<property name="singleStep">
|
||
<double>1.000000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>4.000000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QLabel" name="label_38">
|
||
<property name="text">
|
||
<string>Cloud max depth</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_66">
|
||
<property name="text">
|
||
<string>Cluster size</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="1">
|
||
<widget class="QLabel" name="label_67">
|
||
<property name="text">
|
||
<string>Max ground angle</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxAngle">
|
||
<property name="suffix">
|
||
<string> rad</string>
|
||
</property>
|
||
<property name="decimals">
|
||
<number>2</number>
|
||
</property>
|
||
<property name="minimum">
|
||
<double>0.000000000000000</double>
|
||
</property>
|
||
<property name="maximum">
|
||
<double>3.140000000000000</double>
|
||
</property>
|
||
<property name="singleStep">
|
||
<double>0.100000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>0.790000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QSpinBox" name="spinBox_projClusterSize">
|
||
<property name="minimum">
|
||
<number>1</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<number>10000</number>
|
||
</property>
|
||
<property name="value">
|
||
<number>20</number>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QGroupBox" name="groupBox_posefiltering">
|
||
<property name="title">
|
||
<string>Pose filtering</string>
|
||
</property>
|
||
<property name="checkable">
|
||
<bool>true</bool>
|
||
</property>
|
||
<property name="checked">
|
||
<bool>false</bool>
|
||
</property>
|
||
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
|
||
<item row="4" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringAngle">
|
||
<property name="suffix">
|
||
<string> degrees</string>
|
||
</property>
|
||
<property name="decimals">
|
||
<number>0</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<double>180.000000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>30.000000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_posefilteringRadius">
|
||
<property name="suffix">
|
||
<string> m</string>
|
||
</property>
|
||
<property name="minimum">
|
||
<double>0.010000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>0.100000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="1">
|
||
<widget class="QLabel" name="label_42">
|
||
<property name="text">
|
||
<string>Radius</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="4" column="1">
|
||
<widget class="QLabel" name="label_43">
|
||
<property name="text">
|
||
<string>Angle</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="5" column="0">
|
||
<spacer name="verticalSpacer_4">
|
||
<property name="orientation">
|
||
<enum>Qt::Vertical</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>20</width>
|
||
<height>40</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
<widget class="QWidget" name="page_5">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>297</width>
|
||
<height>126</height>
|
||
</rect>
|
||
</property>
|
||
<attribute name="label">
|
||
<string>Detect more loop closures</string>
|
||
</attribute>
|
||
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
|
||
<item row="0" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
|
||
<property name="suffix">
|
||
<string> m</string>
|
||
</property>
|
||
<property name="decimals">
|
||
<number>2</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<double>10.000000000000000</double>
|
||
</property>
|
||
<property name="singleStep">
|
||
<double>0.100000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>0.300000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="1">
|
||
<widget class="QLabel" name="label_29">
|
||
<property name="text">
|
||
<string>Radius</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
|
||
<property name="suffix">
|
||
<string> degrees</string>
|
||
</property>
|
||
<property name="decimals">
|
||
<number>0</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<double>180.000000000000000</double>
|
||
</property>
|
||
<property name="singleStep">
|
||
<double>1.000000000000000</double>
|
||
</property>
|
||
<property name="value">
|
||
<double>30.000000000000000</double>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QLabel" name="label_30">
|
||
<property name="text">
|
||
<string>Angle</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0">
|
||
<widget class="QSpinBox" name="spinBox_detectMore_iterations">
|
||
<property name="minimum">
|
||
<number>1</number>
|
||
</property>
|
||
<property name="maximum">
|
||
<number>100</number>
|
||
</property>
|
||
<property name="value">
|
||
<number>1</number>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="label_31">
|
||
<property name="text">
|
||
<string>Iterations</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<spacer name="verticalSpacer_5">
|
||
<property name="orientation">
|
||
<enum>Qt::Vertical</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>20</width>
|
||
<height>40</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
<widget class="QWidget" name="page_2">
|
||
<property name="geometry">
|
||
<rect>
|
||
<x>0</x>
|
||
<y>0</y>
|
||
<width>297</width>
|
||
<height>134</height>
|
||
</rect>
|
||
</property>
|
||
<attribute name="label">
|
||
<string>ICP</string>
|
||
</attribute>
|
||
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
|
||
<item row="1" column="0">
|
||
<widget class="QSpinBox" name="spinBox_icp_decimation">
|
||
<property name="minimum">
|
||
<number>1</number>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="2">
|
||
<widget class="QLabel" name="label_9">
|
||
<property name="text">
|
||
<string>Decimation</string>
|
||
</property>
|
||
<property name="wordWrap">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="2" column="0" colspan="2">
|
||
<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth"/>
|
||
</item>
|
||
<item row="2" column="2">
|
||
<widget class="QLabel" name="label_11">
|
||
<property name="text">
|
||
<string>Max depth</string>
|
||
</property>
|
||
<property name="wordWrap">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="0">
|
||
<widget class="QCheckBox" name="checkBox_icp_laserScan">
|
||
<property name="text">
|
||
<string/>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="2">
|
||
<widget class="QLabel" name="label_7">
|
||
<property name="text">
|
||
<string>Generate laser scans from RGB-D images</string>
|
||
</property>
|
||
<property name="wordWrap">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="3" column="0">
|
||
<spacer name="verticalSpacer">
|
||
<property name="orientation">
|
||
<enum>Qt::Vertical</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>20</width>
|
||
<height>0</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_stereoView">
|
||
<property name="windowTitle">
|
||
<string>Stereo view</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>4</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents_5">
|
||
<layout class="QVBoxLayout" name="verticalLayout_11" stretch="1,0">
|
||
<property name="spacing">
|
||
<number>0</number>
|
||
</property>
|
||
<property name="margin">
|
||
<number>0</number>
|
||
</property>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_9" stretch="1,1">
|
||
<item>
|
||
<widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
|
||
</item>
|
||
<item>
|
||
<widget class="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||
<property name="spacing">
|
||
<number>6</number>
|
||
</property>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_inliers_name">
|
||
<property name="text">
|
||
<string>Inliers:</string>
|
||
</property>
|
||
<property name="textFormat">
|
||
<enum>Qt::RichText</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_inliers">
|
||
<property name="text">
|
||
<string>0</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_slopeOutliers_name">
|
||
<property name="text">
|
||
<string>Slope outliers:</string>
|
||
</property>
|
||
<property name="textFormat">
|
||
<enum>Qt::RichText</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_slopeOutliers">
|
||
<property name="text">
|
||
<string>0</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_disparityOutliers_name">
|
||
<property name="text">
|
||
<string>Negative disparity outliers:</string>
|
||
</property>
|
||
<property name="textFormat">
|
||
<enum>Qt::RichText</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_disparityOutliers">
|
||
<property name="text">
|
||
<string>0</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_flowOutliers_name">
|
||
<property name="text">
|
||
<string>Flow outliers:</string>
|
||
</property>
|
||
<property name="textFormat">
|
||
<enum>Qt::RichText</enum>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QLabel" name="label_stereo_flowOutliers">
|
||
<property name="text">
|
||
<string>0</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<spacer name="horizontalSpacer_2">
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>40</width>
|
||
<height>20</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_view3d">
|
||
<property name="windowTitle">
|
||
<string>3D view</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>4</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents_6">
|
||
<layout class="QHBoxLayout" name="horizontalLayout_8" stretch="1,1">
|
||
<item>
|
||
<widget class="rtabmap::CloudViewer" name="widget_cloudA" native="true"/>
|
||
</item>
|
||
<item>
|
||
<widget class="rtabmap::CloudViewer" name="widget_cloudB" native="true"/>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_info">
|
||
<property name="windowTitle">
|
||
<string>Info</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>2</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents_4">
|
||
<layout class="QVBoxLayout" name="verticalLayout_12" stretch="0">
|
||
<item>
|
||
<widget class="QTextEdit" name="textEdit_info">
|
||
<property name="lineWrapMode">
|
||
<enum>QTextEdit::NoWrap</enum>
|
||
</property>
|
||
<property name="readOnly">
|
||
<bool>true</bool>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<widget class="QDockWidget" name="dockWidget_coreparameters">
|
||
<property name="windowTitle">
|
||
<string>Core Parameters</string>
|
||
</property>
|
||
<attribute name="dockWidgetArea">
|
||
<number>1</number>
|
||
</attribute>
|
||
<widget class="QWidget" name="dockWidgetContents_7">
|
||
<layout class="QVBoxLayout" name="verticalLayout_13">
|
||
<property name="margin">
|
||
<number>0</number>
|
||
</property>
|
||
<item>
|
||
<widget class="rtabmap::ParametersToolBox" name="parameters_toolbox" native="true"/>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
<action name="actionOpen_database">
|
||
<property name="text">
|
||
<string>Open database</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionQuit">
|
||
<property name="text">
|
||
<string>Quit</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionGenerate_graph_dot">
|
||
<property name="text">
|
||
<string>Generate graph (*.dot) ...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionGenerate_graph_only_weighted_locations">
|
||
<property name="text">
|
||
<string>Generate graph (only weighted locations) ...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionClean_database">
|
||
<property name="text">
|
||
<string>Clean database</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionGenerate_local_graph_dot">
|
||
<property name="text">
|
||
<string>Generate local graph (.dot) ...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionClean_local_graph">
|
||
<property name="text">
|
||
<string>Clean local graph ...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionUpdate_base_ids">
|
||
<property name="text">
|
||
<string>Update base ids</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionGenerate_3D_map_pcd">
|
||
<property name="text">
|
||
<string>Export 3D map (*.ply *.pcd) ...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionExport">
|
||
<property name="text">
|
||
<string>Export database...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionExtract_images">
|
||
<property name="text">
|
||
<string>Extract images...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionView_3D_map">
|
||
<property name="text">
|
||
<string>View 3D map...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionGenerate_TORO_graph_graph">
|
||
<property name="text">
|
||
<string>Generate TORO graph (*.graph)...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionRefine_all_neighbor_links">
|
||
<property name="text">
|
||
<string>ICP: Refine all neighbor links...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionRefine_all_loop_closure_links">
|
||
<property name="text">
|
||
<string>ICP: Refine all loop closure links...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionDetect_more_loop_closures">
|
||
<property name="text">
|
||
<string>Detect more loop closures...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionVisual_Refine_all_neighbor_links">
|
||
<property name="text">
|
||
<string>Visual: Refine all neighbor links...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionVisual_Refine_all_loop_closure_links">
|
||
<property name="text">
|
||
<string>Visual: Refine all loop closure links...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionSave_config">
|
||
<property name="text">
|
||
<string>Save config</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionReset_all_changes">
|
||
<property name="text">
|
||
<string>Reset all changes</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionGenerate_g2o_graph_g2o">
|
||
<property name="text">
|
||
<string>Generate g2o graph (*.g2o)...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionView_3D_laser_scans">
|
||
<property name="text">
|
||
<string>View 3D laser scans...</string>
|
||
</property>
|
||
</action>
|
||
<action name="actionExport_3D_laser_scans_ply_pcd">
|
||
<property name="text">
|
||
<string>Export 3D laser scans (*.ply *.pcd) ...</string>
|
||
</property>
|
||
</action>
|
||
</widget>
|
||
<customwidgets>
|
||
<customwidget>
|
||
<class>rtabmap::CloudViewer</class>
|
||
<extends>QWidget</extends>
|
||
<header>rtabmap/gui/CloudViewer.h</header>
|
||
<container>1</container>
|
||
</customwidget>
|
||
<customwidget>
|
||
<class>rtabmap::ImageView</class>
|
||
<extends>QWidget</extends>
|
||
<header>rtabmap/gui/ImageView.h</header>
|
||
</customwidget>
|
||
<customwidget>
|
||
<class>rtabmap::GraphViewer</class>
|
||
<extends>QGraphicsView</extends>
|
||
<header>rtabmap/gui/GraphViewer.h</header>
|
||
</customwidget>
|
||
<customwidget>
|
||
<class>rtabmap::ParametersToolBox</class>
|
||
<extends>QWidget</extends>
|
||
<header>ParametersToolBox.h</header>
|
||
<container>1</container>
|
||
</customwidget>
|
||
</customwidgets>
|
||
<resources/>
|
||
<connections/>
|
||
</ui>
|