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Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links.

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matlabbe
2018-10-15 17:07:18 -04:00
parent b2c012d8bc
commit f1546c1fca
15 changed files with 285 additions and 82 deletions
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40
guilib/src/ui/DatabaseViewer.ui
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@@ -61,8 +61,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>327</width>
<height>222</height>
<width>301</width>
<height>242</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -253,8 +253,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>327</width>
<height>222</height>
<width>301</width>
<height>242</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -579,7 +579,7 @@
<x>0</x>
<y>0</y>
<width>1547</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -637,6 +637,8 @@
<addaction name="actionDetect_more_loop_closures"/>
<addaction name="actionRefine_all_neighbor_links"/>
<addaction name="actionRefine_all_loop_closure_links"/>
<addaction name="actionUpdate_all_neighbor_covariances"/>
<addaction name="actionUpdate_all_loop_closure_covariances"/>
<addaction name="separator"/>
<addaction name="actionRegenerate_local_grid_maps"/>
<addaction name="actionRegenerate_local_grid_maps_selected"/>
@@ -1228,8 +1230,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>312</width>
<height>200</height>
<width>318</width>
<height>197</height>
</rect>
</property>
<attribute name="label">
@@ -1389,9 +1391,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-167</y>
<width>441</width>
<height>764</height>
<y>0</y>
<width>519</width>
<height>791</height>
</rect>
</property>
<attribute name="label">
@@ -1924,8 +1926,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>200</width>
<height>111</height>
<width>205</width>
<height>114</height>
</rect>
</property>
<attribute name="label">
@@ -2024,8 +2026,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>179</width>
<height>452</height>
<width>185</width>
<height>485</height>
</rect>
</property>
<attribute name="label">
@@ -2696,6 +2698,16 @@
<string>Update optimized mesh...</string>
</property>
</action>
<action name="actionUpdate_all_neighbor_covariances">
<property name="text">
<string>Update all neighbor covariances...</string>
</property>
</action>
<action name="actionUpdate_all_loop_closure_covariances">
<property name="text">
<string>Update all loop closure covariances...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>