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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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8
guilib/src/ui/mainWindow.ui
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@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -64,6 +64,7 @@
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionTORO_graph"/>
<addaction name="actionG2o_g2o"/>
</widget>
<addaction name="actionOpen_working_directory"/>
<addaction name="actionDump_the_memory"/>
@@ -1259,6 +1260,11 @@
<string>Raw format (*.txt)</string>
</property>
</action>
<action name="actionG2o_g2o">
<property name="text">
<string>g2o (*.g2o)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>