GUI Workflow

GUI Workflow

Main Layout | 主界面结构

The GUI is divided into four main areas:

界面主要分为四块：

• trajectory panel

• point-cloud review panel

• right-side control tabs (Summary / Advanced)

• bottom tabs (Graph Changes / Execution Log)

• 轨迹面板

• 点云预览面板

• 右侧控制页签（Summary / Advanced）

• 底部页签（Graph Changes / Execution Log）

Trajectory Panel | 轨迹面板

• Nodes is used to select source / target node pairs.

• Edges is used to inspect or revise existing loop edges.

• Working and Original let you compare the current edited graph against the baseline graph.

• Ghost overlays the other trajectory as a lightweight reference.

• Nodes 用于选择 source / target 节点对。

• Edges 用于检查或修订已有闭环边。

• Working 与 Original 可对比当前编辑图与原始图。

• Ghost 会以轻量叠加方式显示另一套轨迹。

Point Cloud Review | 点云预览

• Preview, Final, and Compare control the source/target display mode.

• Top, Side-Y, and Side-X are camera presets.

• In edit mode, source is the only editable object; target stays fixed.

• Preview、Final、Compare 控制点云显示模式。

• Top、Side-Y、Side-X 是相机预设。

• 在编辑模式下，只有 source 可编辑，target 始终固定。

Right Control Tabs | 右侧控制页

Summary

• Summary cards
• Delta
• Registration
• Actions

Advanced

• shared variance settings
• backend selection
• export map voxel

Bottom Tabs | 底部页签

• Graph Changes records accepted manual edits and disabled/restored loop actions.

• Execution Log stores optimization and GICP logs.

• Graph Changes 记录已接受的手工改动及禁用/恢复动作。

• Execution Log 用于查看优化与 GICP 日志。