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Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds.

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matlabbe
2021-03-13 18:42:13 -05:00
parent f6e17be2b4
commit 752509fb15
14 changed files with 815 additions and 326 deletions
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guilib/include/rtabmap/gui/ExportCloudsDialog.h
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@@ -131,6 +131,7 @@ private Q_SLOTS:
void cancel();
private:
std::map<int, Transform> filterNodes(const std::map<int, Transform> & poses);
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,