GUI Workflow

GUI Workflow

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Main Layout

The GUI is divided into four main areas:

• trajectory panel
• point-cloud review panel
• right-side control tabs (Summary / Advanced)
• bottom tabs (Graph Changes / Execution Log)

Trajectory Panel

• Nodes selects source / target node pairs.
• Edges inspects or revises existing loop edges.
• Working and Original compare the edited graph against the baseline graph.
• Ghost overlays the other trajectory as a lightweight reference.

Point Cloud Review

• Preview, Final, and Compare control the display mode.
• Top, Side-Y, and Side-X are camera presets.
• In edit mode, source is the only editable object; target stays fixed.

Right Control Tabs

Summary

• summary cards
• delta
• registration
• actions

Advanced

• shared variance settings
• optimize mode selection (Fast ISAM2 by default, Accurate LM optional)
• backend selection
• export map voxel (MapVoxel, default 0.1 m)

Registration defaults

• TgtVoxel defaults to 0.1 m
• MapVoxel defaults to 0.1 m
• MapVoxel affects final export only; it does not slow every optimize step

Bottom Tabs

• Graph Changes records accepted manual edits and disabled/restored loop actions.
• Execution Log stores optimization and GICP logs.