Moved some util3d methods to Transform.h, Graph.h and Compression.h

Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument

corelib/include/rtabmap/core/Graph.h

@@ -0,0 +1,96 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef GRAPH_H_
+#define GRAPH_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <map>
+#include <list>
+#include <rtabmap/core/Link.h>
+
+namespace rtabmap {
+
+std::multimap<int, Link>::iterator RTABMAP_EXP findLink(
+		std::multimap<int, Link> & links,
+		int from,
+		int to);
+
+// <int, depth> depth=0 means infinite depth
+std::map<int, int> RTABMAP_EXP generateDepthGraph(
+		const std::multimap<int, Link> & links,
+		int fromId,
+		int depth = 0);
+
+void RTABMAP_EXP optimizeTOROGraph(
+		const std::map<int, int> & depthGraph,
+		const std::map<int, Transform> & poses,
+		const std::multimap<int, Link> & links,
+		std::map<int, Transform> & optimizedPoses,
+		int toroIterations = 100,
+		bool toroInitialGuess = true,
+		bool ignoreCovariance = false,
+		std::list<std::map<int, Transform> > * intermediateGraphes = 0);
+
+void RTABMAP_EXP optimizeTOROGraph(
+		const std::map<int, Transform> & poses,
+		const std::multimap<int, Link> & edgeConstraints,
+		std::map<int, Transform> & optimizedPoses,
+		int toroIterations = 100,
+		bool toroInitialGuess = true,
+		bool ignoreCovariance = false,
+		std::list<std::map<int, Transform> > * intermediateGraphes = 0);
+
+bool RTABMAP_EXP saveTOROGraph(
+		const std::string & fileName,
+		const std::map<int, Transform> & poses,
+		const std::multimap<int, Link> & edgeConstraints);
+
+bool RTABMAP_EXP loadTOROGraph(const std::string & fileName,
+		std::map<int, Transform> & poses,
+		std::multimap<int, std::pair<int, Transform> > & edgeConstraints);
+
+std::map<int, Transform> RTABMAP_EXP radiusPosesFiltering(
+		const std::map<int, Transform> & poses,
+		float radius,
+		float angle,
+		bool keepLatest = true);
+
+std::multimap<int, int> RTABMAP_EXP radiusPosesClustering(
+		const std::map<int, Transform> & poses,
+		float radius,
+		float angle);
+
+std::vector<int> RTABMAP_EXP computePath(
+			const std::map<int, rtabmap::Transform> & poses,
+			const std::multimap<int, int> & links,
+			int from,
+			int to);
+
+} /* namespace rtabmap */
+#endif /* GRAPH_H_ */