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DBViewer: merged Refine (visual) and Refine (ICP) in the same Refine action (registration used is defined by Reg/Strategy value). Updated how detect more loop closures work in MainWindow and DBViewer (using current registration parameters, visual and/or icp)

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matlabbe
2016-11-09 16:44:08 -05:00
parent fdcfb3eb7c
commit edcd92fbb7
6 changed files with 178 additions and 255 deletions
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corelib/src/RegistrationVis.cpp
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@@ -185,6 +185,7 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("%s=%d", Parameters::kVisCorFlowIterations().c_str(), _flowIterations);
UDEBUG("%s=%f", Parameters::kVisCorFlowEps().c_str(), _flowEps);
UDEBUG("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
UDEBUG("guess=%s", guess.prettyPrint().c_str());
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d descriptors",
fromSignature.id(),