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https://github.com/introlab/rtabmap.git
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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)
This commit is contained in:
matlabbe
@@ -52,8 +52,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>203</width>
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<height>208</height>
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<width>194</width>
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<height>196</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
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@@ -210,8 +210,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>202</width>
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<height>208</height>
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<width>194</width>
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<height>196</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
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@@ -484,7 +484,7 @@
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<x>0</x>
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<y>0</y>
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<width>1285</width>
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<height>22</height>
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<height>25</height>
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</rect>
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</property>
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<widget class="QMenu" name="menuFile">
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@@ -512,9 +512,7 @@
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<addaction name="actionGenerate_g2o_graph_g2o"/>
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<addaction name="separator"/>
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<addaction name="actionDetect_more_loop_closures"/>
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<addaction name="actionVisual_Refine_all_neighbor_links"/>
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<addaction name="actionRefine_all_neighbor_links"/>
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<addaction name="actionVisual_Refine_all_loop_closure_links"/>
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<addaction name="actionRefine_all_loop_closure_links"/>
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<addaction name="separator"/>
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<addaction name="actionRegenerate_local_grid_maps"/>
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@@ -579,6 +577,16 @@
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_odomFrame">
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<property name="text">
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<string>Odom Frame</string>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_3">
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<property name="orientation">
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@@ -708,17 +716,13 @@
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_5">
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<item>
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<widget class="QPushButton" name="pushButton_refineVisually">
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<property name="text">
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<string>Refine (Visual)</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_refine">
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<property name="toolTip">
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<string>Refine with the registration strategy set in "Core Parameters"->"Reg"</string>
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</property>
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<property name="text">
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<string>Refine (ICP)</string>
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<string>Refine</string>
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</property>
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</widget>
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</item>
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@@ -990,8 +994,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>324</width>
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<height>210</height>
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<width>424</width>
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<height>186</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1126,8 +1130,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>280</width>
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<height>584</height>
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<width>424</width>
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<height>535</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1443,8 +1447,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>283</width>
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<height>225</height>
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<width>437</width>
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<height>162</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1543,12 +1547,12 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>283</width>
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<height>225</height>
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<width>424</width>
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<height>198</height>
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</rect>
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</property>
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<attribute name="label">
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<string>ICP</string>
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<string>Refine</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
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<item row="1" column="0">
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@@ -1594,7 +1598,7 @@
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<item row="0" column="2">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>Generate laser scans from RGB-D images</string>
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<string>Generate laser scans from RGB-D images using the following parameters.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1821,6 +1825,16 @@
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_odomFrame_3dview">
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<property name="text">
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<string>Odom Frame</string>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_4">
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<property name="orientation">
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@@ -1964,12 +1978,18 @@
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</action>
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<action name="actionRefine_all_neighbor_links">
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<property name="text">
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<string>ICP: Refine all neighbor links...</string>
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<string>Refine all neighbor links...</string>
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</property>
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<property name="toolTip">
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<string>Refine all neighbor links with the registration strategy set in "Core Parameters"->"Reg"</string>
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</property>
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</action>
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<action name="actionRefine_all_loop_closure_links">
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<property name="text">
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<string>ICP: Refine all loop closure links...</string>
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<string>Refine all loop closure links...</string>
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</property>
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<property name="toolTip">
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<string>Refine all loop closure links with the registration strategy set in "Core Parameters"->"Reg"</string>
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</property>
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</action>
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<action name="actionDetect_more_loop_closures">
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@@ -1977,16 +1997,6 @@
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<string>Detect more loop closures...</string>
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</property>
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</action>
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<action name="actionVisual_Refine_all_neighbor_links">
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<property name="text">
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<string>Visual: Refine all neighbor links...</string>
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</property>
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</action>
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<action name="actionVisual_Refine_all_loop_closure_links">
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<property name="text">
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<string>Visual: Refine all loop closure links...</string>
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</property>
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</action>
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<action name="actionSave_config">
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<property name="text">
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<string>Save config</string>
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