GUI Workflow

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JokerJohn edited this page Apr 20, 2026 · 4 revisions

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
backend selection
export map voxel

Bottom Tabs

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

Manual Loop Closure Tools · Repository · README · MS-Mapping