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Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

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Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-11 15:23:06 +00:00
parent 52af62394e
commit df76e3cd29
13 changed files with 1961 additions and 378 deletions
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corelib/include/rtabmap/core/Link.h
+9 -1
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@@ -15,7 +15,13 @@ namespace rtabmap {
class Link
{
public:
enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure};
enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure, kUserClosure, kUndef};
Link() :
from_(0),
to_(0),
type_(kUndef)
{
}
Link(int from, int to, const Transform & transform, Type type) :
from_(from),
to_(to),
@@ -24,6 +30,8 @@ public:
{
}
bool isValid() const {return from_ > 0 && to_ > 0 && !transform_.isNull() && type_!=kUndef;}
int from() const {return from_;}
int to() const {return to_;}
const Transform & transform() const {return transform_;}