Added rtabmap-kitti_dataset tool

corelib/include/rtabmap/core/CameraRGB.h

@@ -107,12 +107,14 @@ public:
 		_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
 	}
 
+	// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
 	void setOdometryPath(const std::string & filePath, int format = 0)
 	{
 		_odometryPath = filePath;
 		_odometryFormat = format;
 	}
 
+	// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
 	void setGroundTruthPath(const std::string & filePath, int format = 0)
 	{
 		_groundTruthPath = filePath;
@@ -127,7 +129,11 @@ public:
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
-	bool readPoses(std::list<Transform> & outputPoses, std::list<double> & stamps, const std::string & filePath, int format) const;
+	bool readPoses(
+			std::list<Transform> & outputPoses,
+			std::list<double> & stamps,
+			const std::string & filePath,
+			int format) const;
 
 private:
 	std::string _path;

corelib/include/rtabmap/core/CameraThread.h

@@ -42,6 +42,8 @@ namespace rtabmap
 {
 
 class Camera;
+class CameraInfo;
+class SensorData;
 class StereoDense;
 
 /**
@@ -80,6 +82,8 @@ public:
 		_scanNormalsK = normalsK;
 	}
 
+	void postUpdate(SensorData * data, CameraInfo * info = 0) const;
+
 	//getters
 	bool isPaused() const {return !this->isRunning();}
 	bool isCapturing() const {return this->isRunning();}

corelib/include/rtabmap/core/Graph.h

@@ -53,7 +53,7 @@ bool RTABMAP_EXP exportPoses(
 
 bool RTABMAP_EXP importPoses(
 		const std::string & filePath,
-		int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, GPS (t,x,y)
+		int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
 		std::map<int, Transform> & poses,
 		std::multimap<int, Link> * constraints = 0, // optional for formats 3 and 4
 		std::map<int, double> * stamps = 0); // optional for format 1

corelib/include/rtabmap/core/OccupancyGrid.h

@@ -48,6 +48,7 @@ public:
 	bool isGridFromDepth() const {return occupancyFromCloud_;}
 	bool isFullUpdate() const {return fullUpdate_;}
 	const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
+	int cacheSize() const {return (int)cache_.size();}
 
 	template<typename PointT>
 	typename pcl::PointCloud<PointT>::Ptr segmentCloud(

corelib/include/rtabmap/core/Rtabmap.h

@@ -59,11 +59,30 @@ public:
 	Rtabmap();
 	virtual ~Rtabmap();
 
-	bool process(const cv::Mat & image, int id=0); // for convenience, an id is automatically generated if id=0
+	/**
+	 * @brief Main loop of rtabmap.
+	 * @param data Sensor data to process.
+	 * @param odomPose Odometry pose, should be non-null for RGB-D SLAM mode.
+	 * @param covariance Odometry covariance.
+	 * @param externalStats External statistics to be saved in the database for convenience
+	 * @return true if data has been added to map.
+	 */
 	bool process(
 			const SensorData & data,
 			Transform odomPose,
-			const cv::Mat & covariance = cv::Mat::eye(6,6,CV_64FC1)); // for convenience
+			const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
+			const std::map<std::string, float> & externalStats = std::map<std::string, float>());
+	// for convenience
+	bool process(
+			const SensorData & data,
+			Transform odomPose,
+			float odomLinearVariance,
+			float odomAngularVariance,
+			const std::map<std::string, float> & externalStats = std::map<std::string, float>());
+	// for convenience, loop closure detection only
+	bool process(
+			const cv::Mat & image,
+			int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
 
 	void init(const ParametersMap & parameters, const std::string & databasePath = "");
 	void init(const std::string & configFile = "", const std::string & databasePath = "");

corelib/include/rtabmap/core/util3d.h

@@ -129,7 +129,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
 		const cv::Mat & imageLeft,
 		const cv::Mat & imageRight,
 		const StereoCameraModel & model,
-		int decimation = 1,
+		float decimation = 1.0f,
 		float maxDepth = 0.0f,
 		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0,