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Enabled esport to g2o even if not built with g2o support (export doesn't need the library)

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matlabbe
2016-09-28 16:07:01 -04:00
parent 8c05ae332c
commit a1593a69a4
3 changed files with 0 additions and 7 deletions
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5
corelib/src/Graph.cpp
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@@ -73,12 +73,7 @@ bool exportPoses(
{ {
tmpPath+=".g2o"; tmpPath+=".g2o";
} }
#ifdef WITH_G2O
return OptimizerG2O::saveGraph(tmpPath, poses, constraints, g2oRobust); return OptimizerG2O::saveGraph(tmpPath, poses, constraints, g2oRobust);
#else
UERROR("Cannot export in g2o format because RTAB-Map is not built with g2o support!");
return false;
#endif
} }
else else
{ {

1
guilib/src/DatabaseViewer.cpp
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@@ -177,7 +177,6 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph())); connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
connect(ui_->actionGenerate_TORO_graph_graph, SIGNAL(triggered()), this, SLOT(generateTOROGraph())); connect(ui_->actionGenerate_TORO_graph_graph, SIGNAL(triggered()), this, SLOT(generateTOROGraph()));
connect(ui_->actionGenerate_g2o_graph_g2o, SIGNAL(triggered()), this, SLOT(generateG2OGraph())); connect(ui_->actionGenerate_g2o_graph_g2o, SIGNAL(triggered()), this, SLOT(generateG2OGraph()));
ui_->actionGenerate_g2o_graph_g2o->setEnabled(Optimizer::isAvailable(Optimizer::kTypeG2O));
connect(ui_->actionView_3D_map, SIGNAL(triggered()), this, SLOT(view3DMap())); connect(ui_->actionView_3D_map, SIGNAL(triggered()), this, SLOT(view3DMap()));
connect(ui_->actionView_3D_laser_scans, SIGNAL(triggered()), this, SLOT(view3DLaserScans())); connect(ui_->actionView_3D_laser_scans, SIGNAL(triggered()), this, SLOT(view3DLaserScans()));
connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap())); connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));

1
guilib/src/MainWindow.cpp
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@@ -350,7 +350,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI())); connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO())); connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(_ui->actionG2o_g2o, SIGNAL(triggered()), this , SLOT(exportPosesG2O())); connect(_ui->actionG2o_g2o, SIGNAL(triggered()), this , SLOT(exportPosesG2O()));
_ui->actionG2o_g2o->setVisible(Optimizer::isAvailable(Optimizer::kTypeG2O));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory())); connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds())); connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
connect(_ui->actionDownload_graph, SIGNAL(triggered()), this , SLOT(downloadPoseGraph())); connect(_ui->actionDownload_graph, SIGNAL(triggered()), this , SLOT(downloadPoseGraph()));