0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.

tools/GlobalBundleAdjustment/CMakeLists.txt

@@ -0,0 +1,40 @@
+
+SET(RTABMap_INCLUDE_DIRS 
+    ${PROJECT_SOURCE_DIR}/utilite/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+)
+SET(RTABMap_LIBRARIES 
+    rtabmap_core
+	rtabmap_utilite
+)  
+
+if(POLICY CMP0020)
+	cmake_policy(SET CMP0020 NEW)
+endif()
+
+SET(INCLUDE_DIRS
+	${RTABMap_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${RTABMap_LIBRARIES}
+	${OpenCV_LIBRARIES}
+	${PCL_LIBRARIES}
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(globalBundleAdjustment main.cpp)
+  
+TARGET_LINK_LIBRARIES(globalBundleAdjustment ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( globalBundleAdjustment 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-globalBundleAdjustment)
+
+INSTALL(TARGETS globalBundleAdjustment
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
+
+