DatabaseViewer 0 0 1187 862 Database viewer 0 0 0 Qt::ScrollBarAsNeeded 0 0 344 81 Parents Parents Children Children 12 Index : Id : indexA idA Qt::Horizontal QSlider::TicksAbove 0 Qt::ScrollBarAsNeeded 0 0 344 81 Parents Parents Children Children 12 Index : Id : indexB idB Qt::Horizontal QSlider::TicksAbove QDialogButtonBox::Close 0 0 1187 25 File Edit View Constraints view 2 QFormLayout::ExpandingFieldsGrow Neighbor links Qt::Horizontal QSlider::TicksAbove Loop closure links Qt::Horizontal QSlider::TicksAbove Transform Optimized Show 3D words Refine (Visual) Refine (ICP) Reset Add Reject Qt::Horizontal 40 20 Graph view 1 # Qt::Horizontal QSlider::TicksAbove TORO iterations: 10 1000 100 Optimize from: true Initial tree guess: Total path length (m): Ignore covariance: false ICP parameters 2 Iteration Decimation 1 16 8 Max depth m 2 100.000000000000000 2.000000000000000 Voxel m 3 1.000000000000000 0.010000000000000 Max correspondence distance m 3 0.001000000000000 1.000000000000000 0.050000000000000 1 1000 30 Point to plane false Normal K neighbors 1 1000 20 2D icp false Qt::Vertical 20 31 Visual parameters 1 Recompute features (SURF) true SURF hessian threshold 0 10.000000000000000 100000.000000000000000 150.000000000000000 NNDR m 1 0.100000000000000 1.000000000000000 0.100000000000000 0.800000000000000 Min correspondences 3 1000 10 Max correspondence distance m 3 0.001000000000000 1.000000000000000 0.020000000000000 Iteration 1 1000 30 Max feature depth m 2 100.000000000000000 4.000000000000000 2D transform (x,y,yaw) Detect more LCs: radius Detect more LCs: angle m 2 10.000000000000000 0.100000000000000 0.300000000000000 degrees 0 180.000000000000000 1.000000000000000 30.000000000000000 Detect more LCs: iterations 1 100 1 Qt::Vertical 20 40 Stereo view 4 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... rtabmap::CloudViewer QWidget

rtabmap/gui/CloudViewer.h

1 rtabmap::ImageView QGraphicsView

rtabmap/gui/ImageView.h

rtabmap::GraphViewer QGraphicsView

GraphViewer.h