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Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-25 23:00:35 +00:00
parent bb3c8afd45
commit f34907f92f
9 changed files with 171 additions and 88 deletions
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13
guilib/src/MainWindow.cpp
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@@ -513,7 +513,6 @@ void MainWindow::handleEvent(UEvent* anEvent)
{
OdometryEvent * odomEvent = (OdometryEvent*)anEvent;
if(_ui->dockWidget_cloudViewer->isVisible() &&
_preferencesDialog->isCloudsShown(1) &&
_lastOdometryProcessed &&
!_processingStatistics)
{
@@ -1279,6 +1278,11 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
}
else if(viewerClouds.contains(cloudName))
{
if(visible)
{
//make sure the transformation was done
_ui->widget_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
}
_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible);
}
}
@@ -1292,6 +1296,11 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
}
else if(viewerClouds.contains(scanName))
{
if(visible)
{
//make sure the transformation was done
_ui->widget_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
}
_ui->widget_cloudViewer->setCloudVisibility(scanName, visible);
}
}
@@ -1481,8 +1490,6 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_initProgressDialog->appendText(tr("Inserted %1 local transforms.").arg(_localTransformsMap.size()));
_initProgressDialog->incrementStep();
_odometryCorrection.setIdentity();
_initProgressDialog->appendText("Inserting data in the cache... done.");
if(event.getPoses().size())