rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.

Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.

corelib/include/rtabmap/core/DBDriver.h

@@ -102,7 +102,7 @@ public:
 	// Mutex-protected methods of abstract versions below
 
 	bool openConnection(const std::string & url, bool overwritten = false);
-	void closeConnection(bool save = true);
+	void closeConnection(bool save = true, const std::string & outputUrl = "");
 	bool isConnected() const;
 	long getMemoryUsed() const; // In bytes
 	std::string getDatabaseVersion() const;
@@ -146,7 +146,7 @@ protected:
 
 private:
 	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
-	virtual void disconnectDatabaseQuery(bool save = true) = 0;
+	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
 	virtual bool isConnectedQuery() const = 0;
 	virtual long getMemoryUsedQuery() const = 0; // In bytes
 	virtual bool getDatabaseVersionQuery(std::string & version) const = 0;

corelib/include/rtabmap/core/Memory.h

@@ -80,7 +80,7 @@ public:
 			bool dbOverwritten = false,
 			const ParametersMap & parameters = ParametersMap(),
 			bool postInitClosingEvents = false);
-	void close(bool databaseSaved = true, bool postInitClosingEvents = false);
+	void close(bool databaseSaved = true, bool postInitClosingEvents = false, const std::string & ouputDatabasePath = "");
 	std::map<int, float> computeLikelihood(const Signature * signature,
 			const std::list<int> & ids);
 	int incrementMapId(std::map<int, int> * reducedIds = 0);

corelib/include/rtabmap/core/Rtabmap.h

@@ -67,7 +67,14 @@ public:
 	void init(const ParametersMap & parameters, const std::string & databasePath = "");
 	void init(const std::string & configFile = "", const std::string & databasePath = "");
 
-	void close(bool databaseSaved = true);
+	/**
+	 * Close rtabmap. This will delete rtabmap object if set.
+	 * @param databaseSaved true=database saved, false=database discarded.
+	 * @param databasePath output database file name, ignored if
+	 *                     Db/Sqlite3InMemory=false (opened database is
+	 *                     then overwritten).
+	 */
+	void close(bool databaseSaved = true, const std::string & ouputDatabasePath = "");
 
 	const std::string & getWorkingDir() const {return _wDir;}
 	bool isRGBDMode() const { return _rgbdSlamMode; }

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -61,7 +61,7 @@ public:
 	enum Cmd {
 			kCmdInit,             // params: [string] database path + ParametersMap
 			kCmdResetMemory,
-			kCmdClose,            // params: [bool] database saved (default true)
+			kCmdClose,            // params: [bool] database saved (default true), [string] output database path (empty=use same database to save, only work when Db/Sqlite3InMemory=true)
 			kCmdDumpMemory,
 			kCmdDumpPrediction,
 			kCmdGenerateDOTGraph, // params: [bool] global, [string] path, if global=false: [int] id, [int] margin

corelib/include/rtabmap/core/RtabmapThread.h

@@ -82,8 +82,14 @@ public:
 	void setDataBufferSize(unsigned int bufferSize);
 	void createIntermediateNodes(bool enabled);
 
-	// this will delete rtabmap object if set
-	void close(bool databaseSaved);
+	/**
+	 * Close rtabmap. This will delete rtabmap object if set.
+	 * @param databaseSaved true=database saved, false=database discarded.
+	 * @param databasePath output database file name, ignored if
+	 *                     Db/Sqlite3InMemory=false (opened database is
+	 *                     then overwritten).
+	 */
+	void close(bool databaseSaved, const std::string & databasePath = "");
 
 protected:
 	virtual void handleEvent(UEvent * anEvent);