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GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-30 14:43:43 +00:00
parent 4fbefc9ec5
commit 1597cfc293
20 changed files with 1328 additions and 446 deletions
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10
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -106,10 +106,6 @@ private:
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
void updateConstraintButtons();
std::multimap<int, Link>::iterator findLink(
std::multimap<int, Link> & links,
int from,
int to);
Link findActiveLink(int from, int to);
bool containsLink(
std::multimap<int, Link> & links,
@@ -120,12 +116,6 @@ private:
void updateLoopClosuresSlider(int from = 0, int to = 0);
void refineConstraint(int from, int to);
bool addConstraint(int from, int to, bool silent);
std::map<int, int> generateGraph(int fromNode, int margin);
std::map<int, Transform> optimizeGraph(
const std::map<int, int> & ids,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
std::list<std::map<int, rtabmap::Transform> > * graphes = 0);
private:
Ui_DatabaseViewer * ui_;

3
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -64,6 +64,7 @@ class StatsToolBox;
class DetailedProgressDialog;
class TwistGridWidget;
class ExportCloudsDialog;
class PostProcessingDialog;
class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
{
@@ -123,6 +124,7 @@ private slots:
void generateMap();
void generateLocalMap();
void generateTOROMap();
void postProcessing();
void deleteMemory();
void openWorkingDirectory();
void updateEditMenu();
@@ -249,6 +251,7 @@ private:
PreferencesDialog * _preferencesDialog;
AboutDialog * _aboutDialog;
ExportCloudsDialog * _exportDialog;
PostProcessingDialog * _postProcessingDialog;
QSet<int> _lastIds;
int _lastId;