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)

corelib/src/RegistrationVis.cpp

@@ -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(),

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -92,8 +92,6 @@ private slots:
 	void detectMoreLoopClosures();
 	void refineAllNeighborLinks();
 	void refineAllLoopClosureLinks();
-	void refineVisuallyAllNeighborLinks();
-	void refineVisuallyAllLoopClosureLinks();
 	void resetAllChanges();
 	void sliderAValueChanged(int);
 	void sliderBValueChanged(int);
@@ -106,7 +104,6 @@ private slots:
 	void updateGrid();
 	void updateGraphView();
 	void refineConstraint();
-	void refineConstraintVisually();
 	void addConstraint();
 	void resetConstraint();
 	void rejectConstraint();
@@ -154,7 +151,6 @@ private:
 			const std::multimap<int, rtabmap::Link> & edgeConstraints);
 	void updateLoopClosuresSlider(int from = 0, int to = 0);
 	void refineConstraint(int from, int to,  bool silent, bool updateGraph);
-	void refineConstraintVisually(int from, int to,  bool silent, bool updateGraph);
 	bool addConstraint(int from, int to, bool silent, bool updateGraph);
 
 private:

guilib/src/DatabaseViewer.cpp

@@ -184,20 +184,16 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->actionDetect_more_loop_closures, SIGNAL(triggered()), this, SLOT(detectMoreLoopClosures()));
 	connect(ui_->actionRefine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineAllNeighborLinks()));
 	connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
-	connect(ui_->actionVisual_Refine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllNeighborLinks()));
-	connect(ui_->actionVisual_Refine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllLoopClosureLinks()));
 	connect(ui_->actionRegenerate_local_grid_maps, SIGNAL(triggered()), this, SLOT(regenerateLocalMaps()));
 	connect(ui_->actionRegenerate_local_grid_maps_selected, SIGNAL(triggered()), this, SLOT(regenerateCurrentLocalMaps()));
 	connect(ui_->actionReset_all_changes, SIGNAL(triggered()), this, SLOT(resetAllChanges()));
 
 	//ICP buttons
 	connect(ui_->pushButton_refine, SIGNAL(clicked()), this, SLOT(refineConstraint()));
-	connect(ui_->pushButton_refineVisually, SIGNAL(clicked()), this, SLOT(refineConstraintVisually()));
 	connect(ui_->pushButton_add, SIGNAL(clicked()), this, SLOT(addConstraint()));
 	connect(ui_->pushButton_reset, SIGNAL(clicked()), this, SLOT(resetConstraint()));
 	connect(ui_->pushButton_reject, SIGNAL(clicked()), this, SLOT(rejectConstraint()));
 	ui_->pushButton_refine->setEnabled(false);
-	ui_->pushButton_refineVisually->setEnabled(false);
 	ui_->pushButton_add->setEnabled(false);
 	ui_->pushButton_reset->setEnabled(false);
 	ui_->pushButton_reject->setEnabled(false);
@@ -225,6 +221,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->checkBox_showScan, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
 	connect(ui_->checkBox_showMap, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
 	connect(ui_->checkBox_showGrid, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
+	connect(ui_->checkBox_odomFrame_3dview, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
 
 	ui_->horizontalSlider_neighbors->setTracking(false);
 	ui_->horizontalSlider_loops->setTracking(false);
@@ -238,6 +235,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->checkBox_show3Dclouds, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
 	connect(ui_->checkBox_show2DScans, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
 	connect(ui_->checkBox_show3DWords, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
+	connect(ui_->checkBox_odomFrame, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
 	ui_->checkBox_showOptimized->setEnabled(false);
 
 	ui_->horizontalSlider_iterations->setTracking(false);
@@ -1219,7 +1217,7 @@ void DatabaseViewer::updateIds()
 				}
 				else
 				{
-					links_.insert(std::make_pair(ids_[i], jter->second));
+					links_.insert(std::make_pair(ids_[i], jter->second))->second;
 				}
 				addPose = true;
 			}
@@ -1710,7 +1708,10 @@ void DatabaseViewer::view3DMap()
 	items.append("-4");
 	items.append("-8");
 	items.append("-16");
-	QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."), items, 2, false, &ok);
+	QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation. \n"
+			"Negative decimation is done from RGB size instead\n"
+			"of depth size (if depth is smaller than RGB, it may be\n"
+			"interpolated depending of the decimation value)."), items, 2, false, &ok);
 	if(ok)
 	{
 		int decimation = item.toInt();
@@ -1936,7 +1937,10 @@ void DatabaseViewer::generate3DMap()
 	items.append("-4");
 	items.append("-8");
 	items.append("-16");
-	QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."), items, 2, false, &ok);
+	QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation.\n"
+			"Negative decimation is done from RGB size instead\n"
+			"of depth size (if depth is smaller than RGB, it may be\n"
+			"interpolated depending of the decimation value)."), items, 2, false, &ok);
 	if(ok)
 	{
 		int decimation = item.toInt();
@@ -2179,6 +2183,7 @@ void DatabaseViewer::detectMoreLoopClosures()
 	int iterations = ui_->spinBox_detectMore_iterations->value();
 	UASSERT(iterations > 0);
 	int added = 0;
+	std::multimap<int, int> checkedLoopClosures;
 	for(int n=0; n<iterations; ++n)
 	{
 		UINFO("iteration %d/%d", n+1, iterations);
@@ -2196,15 +2201,21 @@ void DatabaseViewer::detectMoreLoopClosures()
 				from = iter->second;
 				to = iter->first;
 			}
-			if(!findActiveLink(from, to).isValid() && !containsLink(linksRemoved_, from, to) &&
+
-				addedLinks.find(from) == addedLinks.end() && addedLinks.find(to) == addedLinks.end())
+			// only add new links and one per cluster per iteration
+			if(rtabmap::graph::findLink(checkedLoopClosures, from, to) == checkedLoopClosures.end())
 			{
-				if(addConstraint(from, to, true, false))
+				if(!findActiveLink(from, to).isValid() && !containsLink(linksRemoved_, from, to) &&
+				   addedLinks.find(from) == addedLinks.end() && addedLinks.find(to) == addedLinks.end())
 				{
-					UINFO("Added new loop closure between %d and %d.", from, to);
+					checkedLoopClosures.insert(std::make_pair(from, to));
-					++added;
+					if(addConstraint(from, to, true, false))
-					addedLinks.insert(from);
+					{
-					addedLinks.insert(to);
+						UINFO("Added new loop closure between %d and %d.", from, to);
+						++added;
+						addedLinks.insert(from);
+						addedLinks.insert(to);
+					}
 				}
 			}
 		}
@@ -2271,56 +2282,6 @@ void DatabaseViewer::refineAllLoopClosureLinks()
 	}
 }
 
-void DatabaseViewer::refineVisuallyAllNeighborLinks()
-{
-	if(neighborLinks_.size())
-	{
-		rtabmap::ProgressDialog progressDialog(this);
-		progressDialog.setMaximumSteps(neighborLinks_.size());
-		progressDialog.show();
-
-		for(int i=0; i<neighborLinks_.size(); ++i)
-		{
-			int from = neighborLinks_[i].from();
-			int to = neighborLinks_[i].to();
-			this->refineConstraintVisually(neighborLinks_[i].from(), neighborLinks_[i].to(), true, false);
-
-			progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
-			progressDialog.incrementStep();
-			QApplication::processEvents();
-		}
-		this->updateGraphView();
-
-		progressDialog.setValue(progressDialog.maximumSteps());
-		progressDialog.appendText("Refining links finished!");
-	}
-}
-
-void DatabaseViewer::refineVisuallyAllLoopClosureLinks()
-{
-	if(loopLinks_.size())
-	{
-		rtabmap::ProgressDialog progressDialog(this);
-		progressDialog.setMaximumSteps(loopLinks_.size());
-		progressDialog.show();
-
-		for(int i=0; i<loopLinks_.size(); ++i)
-		{
-			int from = loopLinks_[i].from();
-			int to = loopLinks_[i].to();
-			this->refineConstraintVisually(loopLinks_[i].from(), loopLinks_[i].to(), true, false);
-
-			progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
-			progressDialog.incrementStep();
-			QApplication::processEvents();
-		}
-		this->updateGraphView();
-
-		progressDialog.setValue(progressDialog.maximumSteps());
-		progressDialog.appendText("Refining links finished!");
-	}
-}
-
 void DatabaseViewer::resetAllChanges()
 {
 	linksAdded_.clear();
@@ -2515,7 +2476,7 @@ void DatabaseViewer::update(int value,
 				if(view3D->isVisible())
 				{
 					Transform pose = Transform::getIdentity();
-					if(signatures.size())
+					if(signatures.size() && ui_->checkBox_odomFrame_3dview->isChecked())
 					{
 						float x, y, z, roll, pitch, yaw;
 						(*signatures.begin())->getPose().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
@@ -3318,6 +3279,23 @@ void DatabaseViewer::updateConstraintView(
 		UASSERT(dataTo.imageRaw().empty() || dataTo.imageRaw().type()==CV_8UC3 || dataTo.imageRaw().type() == CV_8UC1);
 		UASSERT(dataTo.depthOrRightRaw().empty() || dataTo.depthOrRightRaw().type()==CV_8UC1 || dataTo.depthOrRightRaw().type() == CV_16UC1 || dataTo.depthOrRightRaw().type() == CV_32FC1);
 
+		// get odom pose
+		Transform pose = Transform::getIdentity();
+		if(ui_->checkBox_odomFrame->isChecked())
+		{
+			int m,w;
+			std::string l;
+			double s;
+			Transform p,g;
+			dbDriver_->getNodeInfo(link.from(), p, m, w, l, s, g);
+			if(!p.isNull())
+			{
+				// keep just the z and roll/pitch rotation
+				float x, y, z, roll, pitch, yaw;
+				p.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
+				pose = Transform(0,0,z,roll,pitch,0);
+			}
+		}
 
 		if(cloudFrom->size() == 0 && cloudTo->size() == 0)
 		{
@@ -3356,11 +3334,11 @@ void DatabaseViewer::updateConstraintView(
 
 				if(cloudFrom.get() && cloudFrom->size())
 				{
-					constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
+					constraintsViewer_->addCloud("cloud0", cloudFrom, pose, Qt::red);
 				}
 				if(cloudTo.get() && cloudTo->size())
 				{
-					constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
+					constraintsViewer_->addCloud("cloud1", cloudTo, pose, Qt::cyan);
 				}
 			}
 			else
@@ -3414,7 +3392,7 @@ void DatabaseViewer::updateConstraintView(
 
 					if(cloudFrom->size())
 					{
-						constraintsViewer_->addCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red);
+						constraintsViewer_->addCloud("words0", cloudFrom, pose, Qt::red);
 					}
 					else
 					{
@@ -3423,7 +3401,7 @@ void DatabaseViewer::updateConstraintView(
 					}
 					if(cloudTo->size())
 					{
-						constraintsViewer_->addCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan);
+						constraintsViewer_->addCloud("words1", cloudTo, pose, Qt::cyan);
 					}
 					else
 					{
@@ -3453,11 +3431,11 @@ void DatabaseViewer::updateConstraintView(
 		{
 			if(cloudFrom->size())
 			{
-				constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
+				constraintsViewer_->addCloud("cloud0", cloudFrom, pose, Qt::red);
 			}
 			if(cloudTo->size())
 			{
-				constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
+				constraintsViewer_->addCloud("cloud1", cloudTo, pose, Qt::cyan);
 			}
 		}
 
@@ -3583,7 +3561,7 @@ void DatabaseViewer::updateConstraintView(
 
 							if(assembledScans->size())
 							{
-								constraintsViewer_->addCloud("scan2", assembledScans, Transform::getIdentity(), Qt::cyan);
+								constraintsViewer_->addCloud("scan2", assembledScans, pose, Qt::cyan);
 							}
 							if(graph->size())
 							{
@@ -3600,25 +3578,25 @@ void DatabaseViewer::updateConstraintView(
 				{
 					pcl::PointCloud<pcl::PointNormal>::Ptr scan;
 					scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
-					constraintsViewer_->addCloud("scan0", scan, Transform::getIdentity(), Qt::yellow);
+					constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
 				}
 				else
 				{
 					pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
 					scan = rtabmap::util3d::laserScanToPointCloud(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
-					constraintsViewer_->addCloud("scan0", scan, Transform::getIdentity(), Qt::yellow);
+					constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
 				}
 				if(dataTo.laserScanRaw().channels() == 6)
 				{
 					pcl::PointCloud<pcl::PointNormal>::Ptr scan;
 					scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
-					constraintsViewer_->addCloud("scan1", scan, Transform::getIdentity(), Qt::magenta);
+					constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
 				}
 				else
 				{
 					pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
 					scan = rtabmap::util3d::laserScanToPointCloud(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
-					constraintsViewer_->addCloud("scan1", scan, Transform::getIdentity(), Qt::magenta);
+					constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
 				}
 			}
 			else
@@ -3632,7 +3610,7 @@ void DatabaseViewer::updateConstraintView(
 		{
 			if(scanFrom->size())
 			{
-				constraintsViewer_->addCloud("scan0", scanFrom, Transform::getIdentity(), Qt::yellow);
+				constraintsViewer_->addCloud("scan0", scanFrom, pose, Qt::yellow);
 			}
 			else
 			{
@@ -3640,7 +3618,7 @@ void DatabaseViewer::updateConstraintView(
 			}
 			if(scanTo->size())
 			{
-				constraintsViewer_->addCloud("scan1", scanTo, Transform::getIdentity(), Qt::magenta);
+				constraintsViewer_->addCloud("scan1", scanTo, pose, Qt::magenta);
 			}
 			else
 			{
@@ -3651,12 +3629,13 @@ void DatabaseViewer::updateConstraintView(
 
 		//update coordinate
 
-		constraintsViewer_->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2);
+		constraintsViewer_->addOrUpdateCoordinate("from_coordinate", pose, 0.2);
-		constraintsViewer_->addOrUpdateCoordinate("to_coordinate", t, 0.2);
+		constraintsViewer_->addOrUpdateCoordinate("to_coordinate", pose*t, 0.2);
+		constraintsViewer_->removeCoordinate("to_coordinate_gt");
 		if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to()))
 		{
 			constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt",
-					groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to()), 0.1);
+					pose*(groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to())), 0.1);
 		}
 
 		constraintsViewer_->clearTrajectory();
@@ -3671,7 +3650,6 @@ void DatabaseViewer::updateConstraintView(
 void DatabaseViewer::updateConstraintButtons()
 {
 	ui_->pushButton_refine->setEnabled(false);
-	ui_->pushButton_refineVisually->setEnabled(false);
 	ui_->pushButton_reset->setEnabled(false);
 	ui_->pushButton_add->setEnabled(false);
 	ui_->pushButton_reject->setEnabled(false);
@@ -3713,7 +3691,6 @@ void DatabaseViewer::updateConstraintButtons()
 			ui_->pushButton_reset->setEnabled(false);
 		}
 		ui_->pushButton_refine->setEnabled(true);
-		ui_->pushButton_refineVisually->setEnabled(true);
 	}
 }
 
@@ -4127,49 +4104,70 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
 	dbDriver_->getNodeData(currentLink.to(), dataTo);
 
 	ParametersMap parameters = ui_->parameters_toolbox->getParameters();
+	Registration * registration = Registration::create(parameters);
 
 	UTimer timer;
-	if(ui_->checkBox_icp_from_depth->isChecked())
+	if(registration->isScanRequired())
+	{
+		if(ui_->checkBox_icp_from_depth->isChecked())
+		{
+			// generate laser scans from depth image
+			cv::Mat tmpA, tmpB, tmpC, tmpD;
+			dataFrom.uncompressData(&tmpA, &tmpB, 0);
+			dataTo.uncompressData(&tmpC, &tmpD, 0);
+			pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
+					dataFrom,
+					ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
+					ui_->doubleSpinBox_icp_maxDepth->value(),
+					ui_->doubleSpinBox_icp_minDepth->value(),
+					0,
+					ui_->parameters_toolbox->getParameters());
+			pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
+					dataTo,
+					ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
+					ui_->doubleSpinBox_icp_maxDepth->value(),
+					ui_->doubleSpinBox_icp_minDepth->value(),
+					0,
+					ui_->parameters_toolbox->getParameters());
+			int maxLaserScans = cloudFrom->size();
+			dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), LaserScanInfo(maxLaserScans, 0));
+			dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), LaserScanInfo(maxLaserScans, 0));
+
+			if(!dataFrom.laserScanCompressed().empty() || !dataTo.laserScanCompressed().empty())
+			{
+				UWARN("There are laser scans in data, but generate laser scan from "
+					  "depth image option is activated. Ignoring saved laser scans...");
+			}
+		}
+		else
+		{
+			cv::Mat tmpA, tmpB;
+			dataFrom.uncompressData(0, 0, &tmpA);
+			dataTo.uncompressData(0, 0, &tmpB);
+		}
+	}
+
+	if(registration->isImageRequired())
 	{
-		// generate laser scans from depth image
 		cv::Mat tmpA, tmpB, tmpC, tmpD;
 		dataFrom.uncompressData(&tmpA, &tmpB, 0);
 		dataTo.uncompressData(&tmpC, &tmpD, 0);
-		pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
+	}
-				dataFrom,
-				ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
-				ui_->doubleSpinBox_icp_maxDepth->value(),
-				ui_->doubleSpinBox_icp_minDepth->value(),
-				0,
-				ui_->parameters_toolbox->getParameters());
-		pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
-				dataTo,
-				ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
-				ui_->doubleSpinBox_icp_maxDepth->value(),
-				ui_->doubleSpinBox_icp_minDepth->value(),
-				0,
-				ui_->parameters_toolbox->getParameters());
-		int maxLaserScans = cloudFrom->size();
-		dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), LaserScanInfo(maxLaserScans, 0));
-		dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), LaserScanInfo(maxLaserScans, 0));
 
-		if(!dataFrom.laserScanCompressed().empty() || !dataTo.laserScanCompressed().empty())
-		{
-			UWARN("There are laser scans in data, but generate laser scan from "
-				  "depth image option is activated. Ignoring saved laser scans...");
-		}
-	}
-	else
-	{
-		cv::Mat tmpA, tmpB;
-		dataFrom.uncompressData(0, 0, &tmpA);
-		dataTo.uncompressData(0, 0, &tmpB);
-	}
 	UINFO("Uncompress time: %f s", timer.ticks());
 
-	RegistrationIcp registration(parameters);
+	Signature fromS(dataFrom);
-	transform = registration.computeTransformation(dataFrom, dataTo, t, &info);
+	Signature toS(dataTo);
-	UINFO("Icp time: %f s", timer.ticks());
+	transform = registration->computeTransformation(fromS, toS, t, &info);
+	delete registration;
+	UINFO("(%d ->%d) Registration time: %f s", from, to, timer.ticks());
+
+	if(!silent)
+	{
+		ui_->graphicsView_A->setFeatures(fromS.getWords(), dataFrom.depthRaw());
+		ui_->graphicsView_B->setFeatures(toS.getWords(), dataTo.depthRaw());
+		updateWordsMatching();
+	}
 
 	if(!transform.isNull())
 	{
@@ -4212,96 +4210,6 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
 	}
 }
 
-void DatabaseViewer::refineConstraintVisually()
-{
-	int from = ids_.at(ui_->horizontalSlider_A->value());
-	int to = ids_.at(ui_->horizontalSlider_B->value());
-	refineConstraintVisually(from, to, false, true);
-}
-
-void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, bool updateGraph)
-{
-	UDEBUG("");
-	if(from == to)
-	{
-		UWARN("Cannot refine link to same node");
-		return;
-	}
-
-	Link currentLink =  findActiveLink(from, to);
-	if(!currentLink.isValid())
-	{
-		UERROR("Not found link! (%d->%d)", from, to);
-		return;
-	}
-
-	ParametersMap parameters = ui_->parameters_toolbox->getParameters();
-
-	Transform t;
-	RegistrationInfo info;
-
-	// Add sensor data to generate features
-	SensorData dataFrom;
-	dbDriver_->getNodeData(from, dataFrom);
-	dataFrom.uncompressData();
-	SensorData dataTo;
-	dbDriver_->getNodeData(to, dataTo);
-	dataTo.uncompressData();
-
-
-	UDEBUG("");
-	RegistrationVis reg(parameters);
-	Signature fromS(dataFrom);
-	Signature toS(dataTo);
-	t = reg.computeTransformationMod(fromS, toS, currentLink.transform(), &info);
-	UDEBUG("");
-
-	if(!silent)
-	{
-		ui_->graphicsView_A->setFeatures(fromS.getWords(), dataFrom.depthRaw());
-		ui_->graphicsView_B->setFeatures(toS.getWords(), dataTo.depthRaw());
-		updateWordsMatching();
-	}
-
-	if(!t.isNull())
-	{
-		Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, info.variance, info.variance);
-
-		bool updated = false;
-		std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
-		while(iter != linksRefined_.end() && iter->first == currentLink.from())
-		{
-			if(iter->second.to() == currentLink.to() &&
-			   iter->second.type() == currentLink.type())
-			{
-				iter->second = newLink;
-				updated = true;
-				break;
-			}
-			++iter;
-		}
-		if(!updated)
-		{
-			linksRefined_.insert(std::make_pair(newLink.from(), newLink));
-
-			if(updateGraph)
-			{
-				this->updateGraphView();
-			}
-		}
-		if(ui_->dockWidget_constraints->isVisible())
-		{
-			this->updateConstraintView(newLink, false);
-		}
-	}
-	else if(!silent)
-	{
-		QMessageBox::warning(this,
-				tr("Add link"),
-				tr("Cannot find a transformation between nodes %1 and %2: %3").arg(from).arg(to).arg(info.rejectedMsg.c_str()));
-	}
-}
-
 void DatabaseViewer::addConstraint()
 {
 	int from = ids_.at(ui_->horizontalSlider_A->value());
@@ -4339,10 +4247,11 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
 
 
 		UDEBUG("");
-		RegistrationVis reg(parameters);
+		Registration * reg = Registration::create(parameters);
 		Signature fromS(dataFrom);
 		Signature toS(dataTo);
-		t = reg.computeTransformationMod(fromS, toS, Transform::getIdentity(), &info);
+		t = reg->computeTransformationMod(fromS, toS, Transform(), &info);
+		delete reg;
 		UDEBUG("");
 
 		if(!silent)

guilib/src/ExportCloudsDialog.cpp

@@ -352,7 +352,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->doubleSpinBox_gainOverlap->setValue(0.05);
 	_ui->doubleSpinBox_gainAlpha->setValue(0.01);
 	_ui->doubleSpinBox_gainBeta->setValue(10);
-	_ui->checkBox_gainLinkedLocationsOnly->setChecked(false);
+	_ui->checkBox_gainLinkedLocationsOnly->setChecked(true);
 
 	_ui->groupBox_meshing->setChecked(false);
 	_ui->doubleSpinBox_gp3Radius->setValue(0.04);
@@ -733,7 +733,14 @@ bool ExportCloudsDialog::getExportedClouds(
 		GainCompensator compensator(_ui->doubleSpinBox_gainRadius->value(), _ui->doubleSpinBox_gainOverlap->value(), _ui->doubleSpinBox_gainAlpha->value(), _ui->doubleSpinBox_gainBeta->value());
 		if(_ui->groupBox_gain->isChecked() && clouds.size() > 1)
 		{
-			_progressDialog->appendText(tr("Gain compensation of %1 clouds...").arg(clouds.size()));
+			if(!_ui->checkBox_gainLinkedLocationsOnly->isChecked())
+			{
+				_progressDialog->appendText(tr("Full gain compensation of %1 clouds...").arg(clouds.size()));
+			}
+			else
+			{
+				_progressDialog->appendText(tr("Gain compensation of %1 clouds...").arg(clouds.size()));
+			}
 			QApplication::processEvents();
 			QApplication::processEvents();
 

guilib/src/MainWindow.cpp

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

guilib/src/ui/DatabaseViewer.ui

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