GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.

corelib/src/Memory.cpp

@@ -4725,10 +4725,22 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 			uniqueWords = uMultimapToMapUnique(words);
 			uniqueWordsDescriptors = uMultimapToMapUnique(wordsDescriptors);
 			cpCurrent.sensorData().setCameraModels(cameraModels);
+			// This will force comparing descriptors between both images directly
 			cpCurrent.setWords(std::multimap<int, cv::KeyPoint>(uniqueWords.begin(), uniqueWords.end()));
 			cpCurrent.setWordsDescriptors(std::multimap<int, cv::Mat>(uniqueWordsDescriptors.begin(), uniqueWordsDescriptors.end()));
-			// This will force comparing descriptors between both images directly
+
-			Transform tmpt = _registrationPipeline->computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
+			Transform tmpt;
+			if(_registrationPipeline->isScanRequired())
+			{
+				// If icp is used, remove it to just do visual registration
+				RegistrationVis vis(parameters_);
+				tmpt = vis.computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
+			}
+			else
+			{
+				tmpt = _registrationPipeline->computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
+			}
+
 			UDEBUG("t=%s", tmpt.prettyPrint().c_str());
 
 			// compute 3D words by epipolar geometry with the previous signature

guilib/src/ui/loopClosureViewer.ui

@@ -17,7 +17,16 @@
    <property name="spacing">
     <number>0</number>
    </property>
-   <property name="margin">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
     <number>0</number>
    </property>
    <item>
@@ -50,6 +59,9 @@
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
+       <property name="wordWrap">
+        <bool>true</bool>
+       </property>
        <property name="textInteractionFlags">
         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
        </property>