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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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guilib/src/MainWindow.cpp
+3 -3
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@@ -4632,9 +4632,9 @@ void MainWindow::postProcessing()
{
Transform transform;
RegistrationInfo info;
RegistrationVis registration(parameters);
transform = registration.computeTransformation(signatureFrom, signatureTo, Transform(), &info);
Registration * registration = Registration::create(parameters);
transform = registration->computeTransformation(signatureFrom, signatureTo, Transform(), &info);
delete registration;
if(!transform.isNull())
{
UINFO("Added new loop closure between %d and %d.", from, to);