GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache.

guilib/include/rtabmap/gui/MainWindow.h

@@ -74,6 +74,7 @@ class PostProcessingDialog;
 class DepthCalibrationDialog;
 class DataRecorder;
 class OctoMap;
+class MultiSessionLocWidget;
 
 class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
 {
@@ -404,6 +405,8 @@ private:
 	PdfPlotCurve * _likelihoodCurve;
 	PdfPlotCurve * _rawLikelihoodCurve;
 
+	MultiSessionLocWidget * _multiSessionLocWidget;
+
 	ProgressDialog * _progressDialog;
 
 	CloudViewer * _cloudViewer;

guilib/include/rtabmap/gui/MultiSessionLocSubView.h

@@ -0,0 +1,64 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_MULTISESSIONLOCSUBVIEW_H_
+#define RTABMAP_MULTISESSIONLOCSUBVIEW_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+#include <opencv2/core.hpp>
+#include <QWidget>
+
+class Ui_multiSessionLocSubView;
+
+namespace rtabmap {
+
+class ImageView;
+
+class RTABMAPGUI_EXP MultiSessionLocSubView : public QWidget
+{
+	Q_OBJECT
+
+public:
+	MultiSessionLocSubView(ImageView * mainView, int mapId, QWidget * parent = 0);
+	virtual ~MultiSessionLocSubView();
+
+public Q_SLOTS:
+	void updateView(
+			int nodeId,
+			const QImage & image,
+			const std::multimap<int, cv::KeyPoint> & features,
+			float locRatio,
+			const QColor & bgColor);
+	void clear();
+
+private:
+	Ui_multiSessionLocSubView * ui_;
+	int mapId_;
+};
+
+} /* namespace rtabmap */
+#endif /* RTABMAP_MULTISESSIONLOCSUBVIEW_H_ */

guilib/include/rtabmap/gui/MultiSessionLocWidget.h

@@ -0,0 +1,76 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_MULTISESSIONLOCWIDGET_H_
+#define RTABMAP_MULTISESSIONLOCWIDGET_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include "rtabmap/core/Statistics.h"
+#include "rtabmap/core/Signature.h"
+#include <QWidget>
+
+class QPushButton;
+class QProgressBar;
+
+namespace rtabmap {
+
+class MultiSessionLocSubView;
+class ImageView;
+
+class RTABMAPGUI_EXP MultiSessionLocWidget : public QWidget
+{
+	Q_OBJECT
+
+public:
+	MultiSessionLocWidget(
+			const QMap<int, Signature> * cache,
+			const std::map<int, int> * mapIds,
+			QWidget * parent = 0);
+	virtual ~MultiSessionLocWidget();
+
+	ImageView * getImageView() {return imageView_;}
+
+public Q_SLOTS:
+	void updateView(
+			const Signature & lastSignature,
+			const Statistics & stats);
+	void clear();
+
+private:
+	const QMap<int, Signature> * cache_;
+	const std::map<int, int> * mapIds_;
+	std::map<int, std::pair<MultiSessionLocSubView*, int> > subViews_;
+	ImageView * imageView_;
+	QProgressBar * totalLocProgressBar_;
+	QPushButton * resetbutton_;
+	int totalFrames_;
+	int totalLoops_;
+};
+
+} /* namespace rtabmap */
+#endif /* RTABMAP_MULTISESSIONLOCWIDGET_H_ */