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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
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@@ -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_;