Removed Optimizer:computeBACorrespondences() duplicated 3d points (more than 2 frames can reference a 3D point), added option to rematch features. Bundler: added more options to export dialog, fixed inverted colors.

guilib/include/rtabmap/gui/ExportBundlerDialog.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 
 #include <rtabmap/core/Signature.h>
+#include <rtabmap/core/Parameters.h>
 #include <QDialog>
 #include <QSettings>
 
@@ -55,7 +56,8 @@ public:
 	void exportBundler(
 			const std::map<int, Transform> & poses,
 			const std::multimap<int, Link> & links,
-			const QMap<int, Signature> & signatures);
+			const QMap<int, Signature> & signatures,
+			const ParametersMap & parameters);
 
 Q_SIGNALS:
 	void configChanged();
@@ -63,6 +65,7 @@ Q_SIGNALS:
 private Q_SLOTS:
 	void getPath();
 	void restoreDefaults();
+	void updateVisibility();
 
 private:
 	Ui_ExportBundlerDialog * _ui;

guilib/include/rtabmap/gui/PostProcessingDialog.h

@@ -63,6 +63,7 @@ public:
 	int sbaIterations() const;
 	double sbaVariance() const;
 	Optimizer::Type sbaType() const;
+	bool sbaRematchFeatures() const;
 
 	//setters
 	void setDetectMoreLoopClosures(bool on);
@@ -75,6 +76,7 @@ public:
 	void setSBAIterations(int iterations);
 	void setSBAVariance(double variance);
 	void setSBAType(Optimizer::Type type);
+	void setSBARematchFeatures(bool value);
 
 Q_SIGNALS:
 	void configChanged();