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Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.

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matlabbe
2015-09-02 17:51:43 -04:00
parent a2b9c9f9a0
commit 7a721105ae
40 changed files with 2125 additions and 158 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -82,6 +82,7 @@ private slots:
void extractImages();
void generateLocalGraph();
void generateTOROGraph();
void generateG2OGraph();
void view3DMap();
void generate3DMap();
void detectMoreLoopClosures();

1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -132,6 +132,7 @@ private slots:
void exportPosesRGBDSLAM();
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();
void postProcessing();
void deleteMemory();
void openWorkingDirectory();

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -301,7 +301,7 @@ private:
void addParameter(const QObject * object, double value);
void addParameter(const QObject * object, const QString & value);
void addParameters(const QObjectList & children);
void addParameters(const QStackedWidget * stackedWidget);
void addParameters(const QStackedWidget * stackedWidget, int panel = -1);
void addParameters(const QGroupBox * box);
QList<QGroupBox*> getGroupBoxes();
void readSettingsBegin();