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OptmizerG2O: add prior edge export (#319)

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* OptmizerG2O: add prior edge export

* add required conditions and structure to export prior edges

* for now, make the graph exportation of priors not dependent of parameters

* include <locale.h> so to use setlocale() in a windows build
This commit is contained in:
Nuno Marques
2018-10-15 16:58:57 +01:00
committed by matlabbe
parent 444b511548
commit 42c60c7154
6 changed files with 49 additions and 24 deletions
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20
guilib/src/MainWindow.cpp
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@@ -208,9 +208,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
// Add cloud viewers
// Note that we add them here manually because there is a crash issue
// when adding them in a DockWidget of the *.ui file. The cloud viewer is
// when adding them in a DockWidget of the *.ui file. The cloud viewer is
// created in a widget which is not yet linked to main window when the CloudViewer constructor
// is called (see order in generated ui file). VTK needs to get the top
// is called (see order in generated ui file). VTK needs to get the top
// level window at the time CloudViewer is created, otherwise it may crash on some systems.
_cloudViewer = new CloudViewer(_ui->layout_cloudViewer);
_cloudViewer->setObjectName("widget_cloudViewer");
@@ -394,7 +394,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionPause->setShortcut(Qt::Key_Space);
_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
// Qt5 issue, we should explicitly add actions not in
// Qt5 issue, we should explicitly add actions not in
// menu bar to have shortcut working
this->addAction(_ui->actionSave_GUI_config);
_ui->actionReset_Odometry->setEnabled(false);
@@ -670,23 +670,23 @@ void MainWindow::setupMainLayout(bool vertical)
}
void MainWindow::setCloudViewer(rtabmap::CloudViewer * cloudViewer)
{
UASSERT(cloudViewer);
{
UASSERT(cloudViewer);
delete _cloudViewer;
_cloudViewer = cloudViewer;
_cloudViewer = cloudViewer;
_cloudViewer->setParent(_ui->layout_cloudViewer);
_cloudViewer->setObjectName("widget_cloudViewer");
_ui->layout_cloudViewer->layout()->addWidget(_cloudViewer);
_cloudViewer->setBackfaceCulling(true, false);
_preferencesDialog->loadWidgetState(_cloudViewer);
connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
}
void MainWindow::setLoopClosureViewer(rtabmap::LoopClosureViewer * loopClosureViewer)
{
UASSERT(loopClosureViewer);
delete _loopClosureViewer;
{
UASSERT(loopClosureViewer);
delete _loopClosureViewer;
_loopClosureViewer = loopClosureViewer;
_loopClosureViewer->setParent(_ui->layout_loopClosureViewer);
_loopClosureViewer->setObjectName("widget_loopClosureViewer");