0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".

corelib/include/rtabmap/core/DBDriver.h

@@ -131,7 +131,7 @@ public:
 	void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
-	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const;
+	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const;
 	void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
@@ -197,7 +197,7 @@ private:
 
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
-	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const = 0;
+	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const = 0;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

corelib/include/rtabmap/core/Graph.h

@@ -58,6 +58,20 @@ bool RTABMAP_EXP importPoses(
 		std::multimap<int, Link> * constraints = 0, // optional for formats 3 and 4
 		std::map<int, double> * stamps = 0); // optional for format 1
 
+/**
+ * Compute translation and rotation errors for KITTI datasets.
+ * See http://www.cvlibs.net/datasets/kitti/eval_odometry.php.
+ * @param poses_gt, Ground Truth poses
+ * @param poses_result, Estimated poses
+ * @param t_err, Output translation error (%)
+ * @param r_err, Output rotation error (deg/m)
+ */
+void RTABMAP_EXP calcKittiSequenceErrors(
+		const std::vector<Transform> &poses_gt,
+		const std::vector<Transform> &poses_result,
+		float & t_err,
+		float & r_err);
+
 std::multimap<int, Link>::iterator RTABMAP_EXP findLink(
 		std::multimap<int, Link> & links,
 		int from,
@@ -205,6 +219,10 @@ float RTABMAP_EXP computePathLength(
 		unsigned int fromIndex = 0,
 		unsigned int toIndex = 0);
 
+// assuming they are all linked in map order
+float RTABMAP_EXP computePathLength(
+		const std::map<int, Transform> & path);
+
 std::list<std::map<int, Transform> > RTABMAP_EXP getPaths(
 		std::map<int, Transform> poses,
 		const std::multimap<int, Link> & links);

corelib/include/rtabmap/core/Link.h

@@ -52,14 +52,7 @@ public:
 			int to,
 			Type type,
 			const Transform & transform,
-			const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),
-			const cv::Mat & userData = cv::Mat());
-	Link(int from,
-			int to,
-			Type type,
-			const Transform & transform,
-			double rotVariance,
-			double transVariance,
+			const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1), // information matrix: inverse of covariance matrix
 			const cv::Mat & userData = cv::Mat());
 
 	bool isValid() const {return from_ > 0 && to_ > 0 && !transform_.isNull() && type_!=kUndef;}
@@ -87,7 +80,6 @@ public:
 
 private:
 	void setInfMatrix(const cv::Mat & infMatrix);
-	void setVariance(double rotVariance, double transVariance);
 
 private:
 	int from_;

corelib/include/rtabmap/core/Memory.h

@@ -75,6 +75,7 @@ public:
 	bool update(const SensorData & data,
 			const Transform & pose,
 			const cv::Mat & covariance,
+			const std::vector<float> & velocity = std::vector<float>(), // vx,vy,vz,vroll,vpitch,vyaw
 			Statistics * stats = 0);
 	bool init(const std::string & dbUrl,
 			bool dbOverwritten = false,
@@ -153,6 +154,7 @@ public:
 			std::string & label,
 			double & stamp,
 			Transform & groundTruth,
+			std::vector<float> & velocity,
 			bool lookInDatabase = false) const;
 	cv::Mat getImageCompressed(int signatureId) const;
 	SensorData getNodeData(int nodeId, bool uncompressedData = false) const;
@@ -244,6 +246,7 @@ private:
 	bool _rawDescriptorsKept;
 	bool _saveDepth16Format;
 	bool _notLinkedNodesKeptInDb;
+	bool _saveIntermediateNodeData;
 	bool _incrementalMemory;
 	bool _reduceGraph;
 	int _maxStMemSize;

corelib/include/rtabmap/core/OdometryEvent.h

@@ -39,53 +39,29 @@ namespace rtabmap {
 class OdometryEvent : public UEvent
 {
 public:
-	static cv::Mat generateCovarianceMatrix(float rotVariance, float transVariance)
-	{
-		UASSERT(uIsFinite(rotVariance) && rotVariance>0);
-		UASSERT(uIsFinite(transVariance) && transVariance>0);
-		cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
-		covariance.at<double>(0,0) = transVariance;
-		covariance.at<double>(1,1) = transVariance;
-		covariance.at<double>(2,2) = transVariance;
-		covariance.at<double>(3,3) = rotVariance;
-		covariance.at<double>(4,4) = rotVariance;
-		covariance.at<double>(5,5) = rotVariance;
-		return covariance;
-	}
-public:
-	OdometryEvent() :
-		_covariance(cv::Mat::eye(6,6,CV_64FC1))
+	OdometryEvent()
 	{
+		_info.covariance = cv::Mat::eye(6,6,CV_64FC1);
 	}
 	OdometryEvent(
 		const SensorData & data,
 		const Transform & pose,
-		const cv::Mat & covariance = cv::Mat::eye(6,6,CV_64FC1),
 		const OdometryInfo & info = OdometryInfo()) :
 			_data(data),
 			_pose(pose),
 			_info(info)
 	{
-		UASSERT(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1);
-		UASSERT_MSG(uIsFinite(covariance.at<double>(0,0)) && covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(1,1)) && covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(2,2)) && covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(3,3)) && covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(4,4)) && covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(5,5)) && covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-		_covariance = covariance;
-	}
-	OdometryEvent(
-		const SensorData & data,
-		const Transform & pose,
-		double rotVariance = 1.0,
-		double transVariance = 1.0,
-		const OdometryInfo & info = OdometryInfo()) :
-			_data(data),
-			_pose(pose),
-			_covariance(generateCovarianceMatrix(rotVariance, transVariance)),
-			_info(info)
-	{
+		if(_info.covariance.empty())
+		{
+			_info.covariance = cv::Mat::eye(6,6,CV_64FC1);
+		}
+		UASSERT(_info.covariance.cols == 6 && _info.covariance.rows == 6 && _info.covariance.type() == CV_64FC1);
+		UASSERT_MSG(uIsFinite(_info.covariance.at<double>(0,0)) && _info.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.covariance.at<double>(1,1)) && _info.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.covariance.at<double>(2,2)) && _info.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.covariance.at<double>(3,3)) && _info.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.covariance.at<double>(4,4)) && _info.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.covariance.at<double>(5,5)) && _info.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
 	}
 	virtual ~OdometryEvent() {}
 	virtual std::string getClassName() const {return "OdometryEvent";}
@@ -93,15 +69,29 @@ public:
 	SensorData & data() {return _data;}
 	const SensorData & data() const {return _data;}
 	const Transform & pose() const {return _pose;}
-	const cv::Mat & covariance() const {return _covariance;}
+	const cv::Mat & covariance() const {return _info.covariance;}
+	std::vector<float> velocity() const {
+		if(_info.interval>0.0)
+		{
+			std::vector<float> velocity(6,0);
+			float x,y,z,roll,pitch,yaw;
+			_info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
+			velocity[0] = x/_info.interval;
+			velocity[1] = y/_info.interval;
+			velocity[2] = z/_info.interval;
+			velocity[3] = roll/_info.interval;
+			velocity[4] = pitch/_info.interval;
+			velocity[5] = yaw/_info.interval;
+		}
+		return std::vector<float>();
+	}
 	const OdometryInfo & info() const {return _info;}
-	double rotVariance() const {return uMax3(_covariance.at<double>(3,3), _covariance.at<double>(4,4), _covariance.at<double>(5,5));}
-	double transVariance() const {return uMax3(_covariance.at<double>(0,0), _covariance.at<double>(1,1), _covariance.at<double>(2,2));}
+	double rotVariance() const {return uMax3(_info.covariance.at<double>(3,3), _info.covariance.at<double>(4,4), _info.covariance.at<double>(5,5));}
+	double transVariance() const {return uMax3(_info.covariance.at<double>(0,0), _info.covariance.at<double>(1,1), _info.covariance.at<double>(2,2));}
 
 private:
 	SensorData _data;
 	Transform _pose;
-	cv::Mat _covariance;
 	OdometryInfo _info;
 };
 

corelib/include/rtabmap/core/OdometryInfo.h

@@ -42,8 +42,6 @@ public:
 		matches(0),
 		inliers(0),
 		icpInliersRatio(0.0f),
-		varianceLin(0.0f),
-		varianceAng(0.0f),
 		features(0),
 		localMapSize(0),
 		localScanMapSize(0),
@@ -67,8 +65,7 @@ public:
 		output.matches = matches;
 		output.inliers = inliers;
 		output.icpInliersRatio = icpInliersRatio;
-		output.varianceLin = varianceLin;
-		output.varianceAng = varianceAng;
+		output.covariance = covariance.clone();
 		output.features = features;
 		output.localMapSize = localMapSize;
 		output.localScanMapSize = localScanMapSize;
@@ -80,6 +77,7 @@ public:
 		output.timeEstimation = timeEstimation;
 		output.timeParticleFiltering = timeParticleFiltering;
 		output.stamp = stamp;
+		output.interval = interval;
 		output.transform = transform;
 		output.transformFiltered = transformFiltered;
 		output.transformGroundTruth = transformGroundTruth;
@@ -92,8 +90,7 @@ public:
 	int matches;
 	int inliers;
 	float icpInliersRatio;
-	float varianceLin;
-	float varianceAng;
+	cv::Mat covariance;
 	int features;
 	int localMapSize;
 	int localScanMapSize;

corelib/include/rtabmap/core/Parameters.h

@@ -197,6 +197,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Mem, MapLabelsAdded, 		    bool, true, 	"Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
 	RTABMAP_PARAM(Mem, SaveDepth16Format, 		bool, false, 	"Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
 	RTABMAP_PARAM(Mem, NotLinkedNodesKept, 	    bool, true, 	"Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
+	RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, 	"Keep intermediate node data in db.");
 	RTABMAP_PARAM(Mem, STMSize, 		        unsigned int, 10, "Short-term memory size.");
 	RTABMAP_PARAM(Mem, IncrementalMemory,       bool, true, 	"SLAM mode, otherwise it is Localization mode.");
 	RTABMAP_PARAM(Mem, ReduceGraph,             bool, false, 	"Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");

corelib/include/rtabmap/core/RegistrationInfo.h

@@ -35,8 +35,6 @@ class RegistrationInfo
 {
 public:
 	RegistrationInfo() :
-		varianceLin(0),
-		varianceAng(0),
 		inliers(0),
 		matches(0),
 		icpInliersRatio(0),
@@ -45,8 +43,7 @@ public:
 	{
 	}
 
-	float varianceLin;
-	float varianceAng;
+	cv::Mat covariance;
 	std::string rejectedMsg;
 
 	// RegistrationVis

corelib/include/rtabmap/core/Rtabmap.h

@@ -71,6 +71,7 @@ public:
 			const SensorData & data,
 			Transform odomPose,
 			const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
+			const std::vector<float> & odomVelocity = std::vector<float>(),
 			const std::map<std::string, float> & externalStats = std::map<std::string, float>());
 	// for convenience
 	bool process(
@@ -78,6 +79,7 @@ public:
 			Transform odomPose,
 			float odomLinearVariance,
 			float odomAngularVariance,
+			const std::vector<float> & odomVelocity = std::vector<float>(),
 			const std::map<std::string, float> & externalStats = std::map<std::string, float>());
 	// for convenience, loop closure detection only
 	bool process(

corelib/include/rtabmap/core/RtabmapThread.h

@@ -125,8 +125,7 @@ private:
 	Rtabmap * _rtabmap;
 	bool _paused;
 	Transform lastPose_;
-	double _rotVariance;
-	double _transVariance;
+	cv::Mat covariance_;
 
 	cv::Mat _userData;
 	UMutex _userDataMutex;

corelib/include/rtabmap/core/Signature.h

@@ -115,11 +115,21 @@ public:
 	void setWords3(const std::multimap<int, cv::Point3f> & words3) {_words3 = words3;}
 	void setPose(const Transform & pose) {_pose = pose;}
 	void setGroundTruthPose(const Transform & pose) {_groundTruthPose = pose;}
+	void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw) {
+		_velocity = std::vector<float>(6,0);
+		_velocity[0]=vx;
+		_velocity[1]=vy;
+		_velocity[2]=vz;
+		_velocity[3]=vroll;
+		_velocity[4]=vpitch;
+		_velocity[5]=vyaw;
+	}
 
 	const std::multimap<int, cv::Point3f> & getWords3() const {return _words3;}
 	const Transform & getPose() const {return _pose;}
 	cv::Mat getPoseCovariance() const;
 	const Transform & getGroundTruthPose() const {return _groundTruthPose;}
+	const std::vector<float> & getVelocity() const {return _velocity;}
 
 	SensorData & sensorData() {return _sensorData;}
 	const SensorData & sensorData() const {return _sensorData;}
@@ -147,6 +157,7 @@ private:
 
 	Transform _pose;
 	Transform _groundTruthPose;
+	std::vector<float> _velocity;
 
 	SensorData _sensorData;
 };

corelib/include/rtabmap/core/util3d_motion_estimation.h

@@ -50,7 +50,7 @@ Transform RTABMAP_EXP estimateMotion3DTo2D(
 			int pnpRefineIterations = 1,
 			const Transform & guess = Transform::getIdentity(),
 			const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
-			double * varianceOut = 0, // mean reproj error if words3B is not set
+			cv::Mat * covariance = 0, // mean reproj error if words3B is not set
 			std::vector<int> * matchesOut = 0,
 			std::vector<int> * inliersOut = 0);
 
@@ -61,7 +61,7 @@ Transform RTABMAP_EXP estimateMotion3DTo3D(
 			double inliersDistance = 0.1,
 			int iterations = 100,
 			int refineIterations = 5,
-			double * varianceOut = 0,
+			cv::Mat * covariance = 0,
 			std::vector<int> * matchesOut = 0,
 			std::vector<int> * inliersOut = 0);
 

corelib/include/rtabmap/core/util3d_registration.h

@@ -57,7 +57,7 @@ Transform RTABMAP_EXP transformFromXYZCorrespondences(
 		int refineModelIterations = 10,
 		double refineModelSigma = 3.0,
 		std::vector<int> * inliers = 0,
-		double * variance = 0);
+		cv::Mat * variance = 0);
 
 void RTABMAP_EXP computeVarianceAndCorrespondences(
 		const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,