OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).

guilib/include/rtabmap/gui/MainWindow.h

@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/SensorData.h"
 #include "rtabmap/core/OdometryEvent.h"
 #include "rtabmap/core/CameraInfo.h"
+#include "rtabmap/core/Optimizer.h"
 #include "rtabmap/gui/PreferencesDialog.h"
 
 #include <pcl/point_cloud.h>
@@ -161,7 +162,7 @@ protected Q_SLOTS:
 	void exportPosesG2O();
 	void exportImages();
 	void exportOctomap();
-	void postProcessing();
+	void showPostProcessingDialog();
 	void depthCalibration();
 	void openWorkingDirectory();
 	void updateEditMenu();
@@ -312,6 +313,24 @@ protected:
 			double & odomSensorTimeOffset,
 			float & odomSensorScaleFactor);
 
+	void postProcessing(
+			bool refineNeighborLinks,
+			bool refineLoopClosureLinks,
+			// Detect more loop closures params:
+			bool detectMoreLoopClosures,
+			double clusterRadius,
+			double clusterAngle,
+			int iterations,
+			bool interSession,
+			bool intraSession,
+			// SBA params:
+			bool sba,
+			int sbaIterations,
+			double sbaVariance,
+			Optimizer::Type sbaType,
+			double sbaRematchFeatures,
+			bool abortIfDataMissing = true);
+
 private:
 	Ui_mainWindow * _ui;