Increased version to 0.6.2

Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CloudViewer.h

@@ -98,6 +98,7 @@ public:
 	bool removeCloud(const std::string & id); //including mesh
 
 	bool getPose(const std::string & id, Transform & pose); //including meshes
+	bool getCloudVisibility(const std::string & id);
 
 	const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes
 

guilib/include/rtabmap/gui/DataRecorder.h

@@ -25,7 +25,7 @@ class RTABMAPGUI_EXP DataRecorder : public QWidget, public UEventsHandler
 	Q_OBJECT
 public:
 	DataRecorder(QWidget * parent = 0);
-	bool init(const QString & path);
+	bool init(const QString & path, bool recordInRAM = true);
 
 	void close();
 

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -54,6 +54,7 @@ public:
 private slots:
 	void openDatabase();
 	void generateGraph();
+	void exportDatabase();
 	void generateLocalGraph();
 	void generate3DMap();
 	void sliderAValueChanged(int);

guilib/include/rtabmap/gui/MainWindow.h

@@ -104,6 +104,7 @@ private slots:
 	void printLoopClosureIds();
 	void generateMap();
 	void generateLocalMap();
+	void generateTOROMap();
 	void deleteMemory();
 	void openWorkingDirectory();
 	void updateEditMenu();
@@ -147,6 +148,7 @@ private slots:
 	void viewMeshes();
 	void resetOdometry();
 	void triggerNewMap();
+	void updateNodeVisibility(int, bool);
 
 signals:
 	void statsReceived(const rtabmap::Statistics &);
@@ -231,6 +233,7 @@ private:
 	DetailedProgressDialog * _initProgressDialog;
 
 	QString _graphSavingFileName;
+	QString _toroSavingFileName;
 	QString _autoScreenCaptureFormat;
 
 	QVector<int> _refIds;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -192,7 +192,8 @@ private slots:
 	void resetApply ( QAbstractButton * button );
 	void resetSettings(int panelNumber);
 	void loadConfigFrom();
-	void saveConfigTo();
+	bool saveConfigTo();
+	void resetConfig();
 	void makeObsoleteGeneralPanel();
 	void makeObsoleteCloudRenderingPanel();
 	void makeObsoleteLoggingPanel();

guilib/src/CMakeLists.txt

@@ -16,6 +16,8 @@ SET(headers_ui
 	../include/${PROJECT_PREFIX}/gui/OdometryViewer.h
 	../include/${PROJECT_PREFIX}/gui/LoopClosureViewer.h
 	../include/${PROJECT_PREFIX}/gui/DataRecorder.h
+	./ExportDialog.h
+	./MapVisibilityWidget.h
 )
 
 SET(uis
@@ -25,6 +27,7 @@ SET(uis
     ./ui/consoleWidget.ui
     ./ui/DatabaseViewer.ui
     ./ui/loopClosureViewer.ui
+    ./ui/exportDialog.ui
 )
 
 SET(qrc 
@@ -60,6 +63,8 @@ SET(SRC_FILES
 	./OdometryViewer.cpp
 	./LoopClosureViewer.cpp
 	./DataRecorder.cpp
+	./ExportDialog.cpp
+	./MapVisibilityWidget.cpp
 	${moc_srcs} 
 	${moc_uis} 
 	${srcs_qrc}

guilib/src/CloudViewer.cpp

@@ -473,6 +473,21 @@ void CloudViewer::setCloudVisibility(const std::string & id, bool isVisible)
 	}
 }
 
+bool CloudViewer::getCloudVisibility(const std::string & id)
+{
+	pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
+	pcl::visualization::CloudActorMap::iterator iter = cloudActorMap->find(id);
+	if(iter != cloudActorMap->end())
+	{
+		return iter->second.actor->GetVisibility() != 0;
+	}
+	else
+	{
+		UERROR("Cannot find actor named \"%s\".", id.c_str());
+	}
+	return false;
+}
+
 void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
 {
 	_visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, id);

guilib/src/DataRecorder.cpp

@@ -32,7 +32,7 @@ DataRecorder::DataRecorder(QWidget * parent) :
 	layout->addWidget(imageView_);
 	this->setLayout(layout);
 }
-bool DataRecorder::init(const QString & path)
+bool DataRecorder::init(const QString & path, bool recordInRAM)
 {
 	if(!memory_)
 	{
@@ -40,6 +40,10 @@ bool DataRecorder::init(const QString & path)
 		customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
 		customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
 		customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "true")); // to keep images
+		if(!recordInRAM)
+		{
+			customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "false")); // to keep images
+		}
 		memory_ = new Memory();
 		if(!memory_->init(path.toStdString(), true, customParameters, false))
 		{

guilib/src/DatabaseViewer.cpp

@@ -35,6 +35,10 @@
 #include "rtabmap/gui/UCv2Qt.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/Signature.h"
+#include "rtabmap/gui/DataRecorder.h"
+#include "rtabmap/core/Image.h"
+#include "ExportDialog.h"
+#include "DetailedProgressDialog.h"
 
 #include <pcl/io/pcd_io.h>
 #include <pcl/filters/voxel_grid.h>
@@ -59,6 +63,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
 
 	// connect actions with custom slots
 	connect(ui_->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
+	connect(ui_->actionExport, SIGNAL(triggered()), this, SLOT(exportDatabase()));
 	connect(ui_->actionGenerate_graph_dot, SIGNAL(triggered()), this, SLOT(generateGraph()));
 	connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
 	connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));
@@ -130,6 +135,82 @@ bool DatabaseViewer::openDatabase(const QString & path)
 	return false;
 }
 
+void DatabaseViewer::exportDatabase()
+{
+	if(!memory_ || ids_.size() == 0)
+	{
+		return;
+	}
+
+	rtabmap::ExportDialog dialog;
+
+	if(dialog.exec())
+	{
+		if(!dialog.outputPath().isEmpty())
+		{
+			int framesIgnored = dialog.framesIgnored();
+			QString path = dialog.outputPath();
+			rtabmap::DataRecorder recorder;
+			if(recorder.init(path, false))
+			{
+				rtabmap::DetailedProgressDialog progressDialog(this);
+				progressDialog.setMaximumSteps(ids_.size() / (1+framesIgnored) + 1);
+				progressDialog.show();
+
+				for(int i=0; i<ids_.size(); i+=1+framesIgnored)
+				{
+					int id = ids_.at(i);
+					std::vector<unsigned char> compressedRgb, compressedDepth, compressedDepth2d;
+					float tmpDepthConstant;
+					rtabmap::Transform tmpLocalTransform, pose;
+
+					memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpDepthConstant, tmpLocalTransform);
+					if(dialog.isOdomExported())
+					{
+						memory_->getPose(id, pose, true);
+					}
+
+					cv::Mat rgb, depth, depth2d;
+					float depthConstant = 0;
+					rtabmap::Transform localTransform;
+
+					if(dialog.isRgbExported())
+					{
+						rgb = rtabmap::util3d::uncompressImage(compressedRgb);
+					}
+					if(dialog.isDepthExported())
+					{
+						depth = rtabmap::util3d::uncompressImage(compressedDepth);
+						depthConstant = tmpDepthConstant;
+						localTransform = tmpLocalTransform;
+					}
+					if(dialog.isDepth2dExported())
+					{
+						depth2d = rtabmap::util3d::uncompressData(compressedDepth2d);
+					}
+
+					rtabmap::Image data(rgb, depth, depth2d, depthConstant, pose, localTransform, id);
+					recorder.addData(data);
+
+					progressDialog.appendText(tr("Exported node %1").arg(id));
+					progressDialog.incrementStep();
+					QApplication::processEvents();
+				}
+				progressDialog.setValue(progressDialog.maximumSteps());
+				progressDialog.appendText("Export finished!");
+			}
+			else
+			{
+				UERROR("DataRecorder init failed?!");
+			}
+		}
+		else
+		{
+			QMessageBox::warning(this, tr("Cannot export database"), tr("An output path must be set!"));
+		}
+	}
+}
+
 void DatabaseViewer::updateIds()
 {
 	if(!memory_)
@@ -246,7 +327,7 @@ void DatabaseViewer::generate3DMap()
 					{
 						std::map<int, rtabmap::Transform> poses, optimizedPoses;
 						std::multimap<int, std::pair<int, rtabmap::Transform> > edgeConstraints;
-						memory_->getMetricConstraints(uKeys(ids), memory_->getSignature(id)->mapId(), poses, edgeConstraints, true);
+						memory_->getMetricConstraints(uKeys(ids), poses, edgeConstraints, true);
 
 						UINFO("Poses=%d, constraints=%d", poses.size(), edgeConstraints.size());
 

guilib/src/ExportDialog.cpp

@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ExportDialog.h"
+#include "ui_exportDialog.h"
+
+#include <QtGui/QFileDialog>
+
+namespace rtabmap {
+
+ExportDialog::ExportDialog(QWidget * parent) :
+	QDialog(parent)
+{
+	_ui = new Ui_ExportDialog();
+	_ui->setupUi(this);
+
+	connect(_ui->toolButton_path, SIGNAL(clicked()), this, SLOT(getPath()));
+
+	_ui->lineEdit_path->setText(QDir::homePath()+QDir::separator()+"output.db");
+}
+
+ExportDialog::~ExportDialog()
+{
+	delete _ui;
+}
+
+void ExportDialog::getPath()
+{
+	QString path = QFileDialog::getSaveFileName(this, tr("Output database path..."), _ui->lineEdit_path->text(), tr("RTAB-Map database (*.db)"));
+	if(!path.isEmpty())
+	{
+		_ui->lineEdit_path->setText(path);
+	}
+}
+
+QString ExportDialog::outputPath() const
+{
+	return _ui->lineEdit_path->text();
+}
+
+int ExportDialog::framesIgnored() const
+{
+	return _ui->spinBox_ignored->value();
+}
+
+bool ExportDialog::isRgbExported() const
+{
+	return _ui->checkBox_rgb->isChecked();
+}
+
+bool ExportDialog::isDepthExported() const
+{
+	return _ui->checkBox_depth->isChecked();
+}
+
+bool ExportDialog::isDepth2dExported() const
+{
+	return _ui->checkBox_depth2d->isChecked();
+}
+
+bool ExportDialog::isOdomExported() const
+{
+	return _ui->checkBox_odom->isChecked();
+}
+
+}

guilib/src/ExportDialog.h

@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef EXPORTDIALOG_H_
+#define EXPORTDIALOG_H_
+
+#include <QtGui/QDialog>
+
+class Ui_ExportDialog;
+
+namespace rtabmap {
+
+class ExportDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ExportDialog(QWidget * parent = 0);
+
+	virtual ~ExportDialog();
+
+	QString outputPath() const;
+	int framesIgnored() const;
+	bool isRgbExported() const;
+	bool isDepthExported() const;
+	bool isDepth2dExported() const;
+	bool isOdomExported() const;
+
+private slots:
+	void getPath();
+
+private:
+	Ui_ExportDialog * _ui;
+};
+
+}
+
+#endif /* ABOUTDIALOG_H_ */

guilib/src/MainWindow.cpp

@@ -151,6 +151,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 		_ui->dockWidget_statsV2->setVisible(false);
 		_ui->dockWidget_console->setVisible(false);
 		_ui->dockWidget_loopClosureViewer->setVisible(false);
+		_ui->dockWidget_mapVisibility->setVisible(false);
 		//_ui->dockWidget_cloudViewer->setVisible(false);
 	}
 
@@ -206,6 +207,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_initProgressDialog->setWindowTitle(tr("Progress dialog"));
 	_initProgressDialog->setMinimumWidth(800);
 
+	connect(_ui->widget_mapVisibility, SIGNAL(visibilityChanged(int, bool)), this, SLOT(updateNodeVisibility(int, bool)));
+
 	//connect stuff
 	connect(_ui->actionExit, SIGNAL(triggered()), this, SLOT(close()));
 	qRegisterMetaType<MainWindow::State>("MainWindow::State");
@@ -222,6 +225,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->menuShow_view->addAction(_ui->dockWidget_console->toggleViewAction());
 	_ui->menuShow_view->addAction(_ui->dockWidget_cloudViewer->toggleViewAction());
 	_ui->menuShow_view->addAction(_ui->dockWidget_loopClosureViewer->toggleViewAction());
+	_ui->menuShow_view->addAction(_ui->dockWidget_mapVisibility->toggleViewAction());
 	_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
 	_ui->toolBar->setWindowTitle(tr("Control toolbar"));
 	QAction * a = _ui->menuShow_view->addAction("Progress dialog");
@@ -239,6 +243,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
 	connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateMap()));
 	connect(_ui->actionGenerate_local_map, SIGNAL(triggered()), this, SLOT(generateLocalMap()));
+	connect(_ui->actionGenerate_TORO_graph_graph, SIGNAL(triggered()), this , SLOT(generateTOROMap()));
 	connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
 	connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
 	connect(_ui->menuEdit, SIGNAL(aboutToShow()), this, SLOT(updateEditMenu()));
@@ -391,6 +396,7 @@ void MainWindow::closeEvent(QCloseEvent* event)
 		_ui->dockWidget_console->close();
 		_ui->dockWidget_cloudViewer->close();
 		_ui->dockWidget_loopClosureViewer->close();
+		_ui->dockWidget_mapVisibility->close();
 
 		if(_camera)
 		{
@@ -616,7 +622,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 	//Affichage des stats et images
 
 	int refMapId = uValue(stat.getMapIds(), stat.refImageId(), -1);
-	int loopMapId = uValue(stat.getMapIds(), stat.loopClosureId(), -1);
+	int loopMapId = uValue(stat.getMapIds(), stat.loopClosureId(), uValue(stat.getMapIds(), stat.localLoopClosureId(), -1));
+
 	_ui->label_refId->setText(QString("New ID = %1 [%2]").arg(stat.refImageId()).arg(refMapId));
 	_ui->label_matchId->clear();
 
@@ -688,7 +695,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 
 		int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
 		int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
-		bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kLocalLoopScan_matching_success(), 0.0f);
+		bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kLocalLoopOdom_corrected(), 0.0f);
 		_ui->label_matchId->clear();
 		_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
 
@@ -916,6 +923,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		{
 			// update pose only if a odometry is not received
 			updateMapCloud(stat.poses(), _odometryReceived?Transform():stat.currentPose());
+			_ui->widget_mapVisibility->setMap(stat.poses());
 			_odometryReceived = false;
 
 			_odometryCorrection = stat.mapCorrection();
@@ -1130,7 +1138,11 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & poses, const Tr
 			int id = std::atoi(splitted.back().c_str());
 			if(poses.find(id) == poses.end())
 			{
-				_ui->widget_cloudViewer->setCloudVisibility(iter.key(), false);
+				if(_ui->widget_cloudViewer->getCloudVisibility(iter.key()))
+				{
+					UDEBUG("Hide %s", iter.key().c_str());
+					_ui->widget_cloudViewer->setCloudVisibility(iter.key(), false);
+				}
 			}
 		}
 	}
@@ -1170,6 +1182,25 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & poses, const Tr
 	_ui->widget_cloudViewer->render();
 }
 
+void MainWindow::updateNodeVisibility(int nodeId, bool visible)
+{
+	if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
+	{
+		if(_preferencesDialog->isCloudsShown(0))
+		{
+			std::string cloudName = uFormat("cloud%d", nodeId);
+			_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible);
+		}
+
+		if(_preferencesDialog->isScansShown(0))
+		{
+			std::string scanName = uFormat("scan%d", nodeId);
+			_ui->widget_cloudViewer->setCloudVisibility(scanName, visible);
+		}
+	}
+	_ui->widget_cloudViewer->render();
+}
+
 void MainWindow::processRtabmapEventInit(int status, const QString & info)
 {
 	if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
@@ -1220,7 +1251,6 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 		UINFO(" depthConstants = %d", event.getDepthConstants().size());
 		UINFO(" localTransforms = %d", event.getLocalTransforms().size());
 		UINFO(" poses = %d", event.getPoses().size());
-		UINFO(" mapCorrection = %s", event.getMapCorrection().prettyPrint().c_str());
 
 		_initProgressDialog->appendText("Inserting data in the cache...");
 
@@ -1269,7 +1299,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 		_initProgressDialog->appendText(tr("Inserted %1 local transforms.").arg(_localTransformsMap.size()));
 		_initProgressDialog->incrementStep();
 
-		_odometryCorrection = event.getMapCorrection();
+		_odometryCorrection.setIdentity();
 
 		_initProgressDialog->appendText("Inserting data in the cache... done.");
 
@@ -2155,6 +2185,66 @@ void MainWindow::generateLocalMap()
 	}
 }
 
+void MainWindow::generateTOROMap()
+{
+	if(_toroSavingFileName.isEmpty())
+	{
+		_toroSavingFileName = _preferencesDialog->getWorkingDirectory() + "/toro.graph";
+	}
+
+	QStringList items;
+	items.append("Current map optimized");
+	items.append("Current map not optimized");
+	items.append("Full map optimized");
+	items.append("Full map not optimized");
+	bool ok;
+	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 0, false, &ok);
+	if(ok)
+	{
+		bool optimized=false, full=false;
+		if(item.compare("Current map optimized") == 0)
+		{
+			optimized = true;
+		}
+		else if(item.compare("Current map not optimized") == 0)
+		{
+
+		}
+		else if(item.compare("Full map optimized") == 0)
+		{
+			full=true;
+			optimized=true;
+		}
+		else if(item.compare("Full map not optimized") == 0)
+		{
+			full=true;
+		}
+		else
+		{
+			UFATAL("Item \"%s\" not found?!?", item.toStdString().c_str());
+		}
+
+		QString path = QFileDialog::getSaveFileName(this, tr("Save File"), _toroSavingFileName, tr("TORO file (*.graph)"));
+		if(!path.isEmpty())
+		{
+			_toroSavingFileName = path;
+			if(full)
+			{
+				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphFull, path.toStdString(), optimized?1:0));
+			}
+			else
+			{
+				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraph, path.toStdString(), optimized?1:0));
+			}
+
+			_ui->dockWidget_console->show();
+			_ui->widget_console->appendMsg(QString("TORO Graph saved (full=%1, optimized=%2)... %3")
+					.arg(full?"true":"false").arg(optimized?"true":"false").arg(_toroSavingFileName));
+		}
+
+	}
+}
+
 void MainWindow::deleteMemory()
 {
 	QMessageBox::StandardButton button;
@@ -2261,12 +2351,61 @@ void MainWindow::dumpThePrediction()
 
 void MainWindow::downloadAllClouds()
 {
-	UINFO("Download clouds...");
-	_initProgressDialog->setAutoClose(true, 1);
-	_initProgressDialog->resetProgress();
-	_initProgressDialog->show();
-	_initProgressDialog->appendText("Downloading the map...");
-	this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap));
+	bool showAll = _state != kMonitoringPaused && _state != kMonitoring;
+
+	QStringList items;
+	items.append("Current map optimized");
+	if(showAll)
+	{
+		items.append("Current map not optimized");
+	}
+	items.append("Full map optimized");
+	if(showAll)
+	{
+		items.append("Full map not optimized");
+	}
+	bool ok;
+	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, showAll?2:1, false, &ok);
+	if(ok)
+	{
+		bool optimized=false, full=false;
+		if(item.compare("Current map optimized") == 0)
+		{
+			optimized = true;
+		}
+		else if(item.compare("Current map not optimized") == 0)
+		{
+
+		}
+		else if(item.compare("Full map optimized") == 0)
+		{
+			full=true;
+			optimized=true;
+		}
+		else if(item.compare("Full map not optimized") == 0)
+		{
+			full=true;
+		}
+		else
+		{
+			UFATAL("Item \"%s\" not found?!?", item.toStdString().c_str());
+		}
+
+		UINFO("Download clouds...");
+		_initProgressDialog->setAutoClose(true, 1);
+		_initProgressDialog->resetProgress();
+		_initProgressDialog->show();
+		_initProgressDialog->appendText(tr("Downloading the map (full=%1 ,optimized=%2)...")
+				.arg(full?"true":"false").arg(optimized?"true":"false"));
+		if(full)
+		{
+			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapFull, optimized?1:0));
+		}
+		else
+		{
+			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, optimized?1:0));
+		}
+	}
 }
 
 void MainWindow::clearTheCache()
@@ -2470,6 +2609,7 @@ void MainWindow::savePointClouds()
 		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
+		_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
 
 		std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
 		if(button == QMessageBox::No)
@@ -2497,6 +2637,7 @@ void MainWindow::saveMeshes()
 		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
+		_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
 
 		std::map<int, pcl::PolygonMesh::Ptr> meshes;
 		if(button == QMessageBox::No)
@@ -2527,6 +2668,7 @@ void MainWindow::viewPointClouds()
 		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
+		_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
 
 		std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
 		if(button == QMessageBox::No)
@@ -2586,6 +2728,7 @@ void MainWindow::viewMeshes()
 		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
+		_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
 
 		std::map<int, pcl::PolygonMesh::Ptr> meshes;
 		if(button == QMessageBox::No)
@@ -3135,6 +3278,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDelete_memory->setEnabled(true);
 		_ui->actionGenerate_map->setEnabled(true);
 		_ui->actionGenerate_local_map->setEnabled(true);
+		_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionApply_settings_to_the_detector->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(true);
@@ -3163,6 +3307,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDelete_memory->setEnabled(false);
 		_ui->actionGenerate_map->setEnabled(false);
 		_ui->actionGenerate_local_map->setEnabled(false);
+		_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
 		_ui->actionOpen_working_directory->setEnabled(true);
 		_ui->actionApply_settings_to_the_detector->setEnabled(false);
 		_ui->actionDownload_all_clouds->setEnabled(false);
@@ -3201,6 +3346,7 @@ void MainWindow::changeState(MainWindow::State newState)
 			_ui->actionDelete_memory->setEnabled(false);
 			_ui->actionGenerate_map->setEnabled(false);
 			_ui->actionGenerate_local_map->setEnabled(false);
+			_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
 			_ui->actionDownload_all_clouds->setEnabled(false);
 			_state = kDetecting;
 			_elapsedTime->start();
@@ -3231,6 +3377,7 @@ void MainWindow::changeState(MainWindow::State newState)
 			_ui->actionDelete_memory->setEnabled(true);
 			_ui->actionGenerate_map->setEnabled(true);
 			_ui->actionGenerate_local_map->setEnabled(true);
+			_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
 			_ui->actionDownload_all_clouds->setEnabled(true);
 			_state = kPaused;
 			_oneSecondTimer->stop();
@@ -3267,6 +3414,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDelete_memory->setEnabled(true);
 		_ui->actionGenerate_map->setVisible(false);
 		_ui->actionGenerate_local_map->setVisible(false);
+		_ui->actionGenerate_TORO_graph_graph->setVisible(false);
 		_ui->actionOpen_working_directory->setEnabled(false);
 		_ui->actionApply_settings_to_the_detector->setVisible(false);
 		_ui->actionDownload_all_clouds->setEnabled(true);
@@ -3294,6 +3442,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDelete_memory->setEnabled(true);
 		_ui->actionGenerate_map->setVisible(false);
 		_ui->actionGenerate_local_map->setVisible(false);
+		_ui->actionGenerate_TORO_graph_graph->setVisible(false);
 		_ui->actionOpen_working_directory->setEnabled(false);
 		_ui->actionApply_settings_to_the_detector->setVisible(false);
 		_ui->actionDownload_all_clouds->setEnabled(true);

guilib/src/MapVisibilityWidget.cpp

@@ -0,0 +1,86 @@
+/*
+ * MapVisibilityWidget.cpp
+ *
+ *  Created on: 2014-01-20
+ *      Author: mathieu
+ */
+
+#include "MapVisibilityWidget.h"
+
+#include <QtGui/QCheckBox>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QScrollArea>
+
+#include <rtabmap/utilite/ULogger.h>
+
+namespace rtabmap {
+
+MapVisibilityWidget::MapVisibilityWidget(QWidget * parent) : QWidget(parent) {
+
+	QVBoxLayout * verticalLayout1 = new QVBoxLayout(this);
+	QScrollArea * scrollArea = new QScrollArea(this);
+	scrollArea->setWidgetResizable(true);
+	QWidget * scrollAreaWidgetContent = new QWidget();
+	scrollAreaWidgetContent->setObjectName("area");
+	QVBoxLayout * layout2 = new QVBoxLayout(scrollAreaWidgetContent);
+	scrollAreaWidgetContent->setLayout(layout2);
+	scrollArea->setWidget(scrollAreaWidgetContent);
+	verticalLayout1->addWidget(scrollArea);
+}
+
+MapVisibilityWidget::~MapVisibilityWidget() {
+
+}
+
+void MapVisibilityWidget::showEvent(QShowEvent * event)
+{
+	updateCheckBoxes();
+}
+
+void MapVisibilityWidget::updateCheckBoxes()
+{
+	QWidget * area = this->findChild<QWidget*>("area");
+	QVBoxLayout * layout = (QVBoxLayout *)area->layout();
+	QList<QCheckBox*> checkboxes = area->findChildren<QCheckBox*>();
+	while(checkboxes.size() && checkboxes.size() > _poses.size())
+	{
+		delete *checkboxes.begin();
+		checkboxes.erase(checkboxes.begin());
+	}
+	int i=0;
+	for(std::map<int, Transform>::iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
+	{
+		bool added = false;
+		if(i >= checkboxes.size())
+		{
+			checkboxes.push_back(new QCheckBox(area));
+			added = true;
+		}
+		checkboxes[i]->setText(QString("%1 (%2)").arg(iter->first).arg(iter->second.prettyPrint().c_str()));
+		checkboxes[i]->setChecked(true);
+		if(added)
+		{
+			connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(signalVisibility()));
+			layout->addWidget(checkboxes[i]);
+		}
+
+		++i;
+	}
+}
+
+void MapVisibilityWidget::setMap(const std::map<int, Transform> & poses)
+{
+	_poses = poses;
+	if(this->isVisible())
+	{
+		updateCheckBoxes();
+	}
+}
+
+void MapVisibilityWidget::signalVisibility()
+{
+	QCheckBox * check = qobject_cast<QCheckBox*>(sender());
+	emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked());
+}
+
+} /* namespace rtabmap */

guilib/src/MapVisibilityWidget.h

@@ -0,0 +1,42 @@
+/*
+ * MapVisibilityWidget.h
+ *
+ *  Created on: 2014-01-20
+ *      Author: mathieu
+ */
+
+#ifndef MAPVISIBILITYWIDGET_H_
+#define MAPVISIBILITYWIDGET_H_
+
+#include <QtGui/QWidget>
+#include <rtabmap/core/Transform.h>
+#include <map>
+
+namespace rtabmap {
+
+class MapVisibilityWidget : public QWidget {
+	Q_OBJECT;
+public:
+	MapVisibilityWidget(QWidget * parent = 0);
+	virtual ~MapVisibilityWidget();
+
+	void setMap(const std::map<int, Transform> & poses);
+
+protected:
+	virtual void showEvent(QShowEvent * event);
+
+private slots:
+	void signalVisibility();
+
+private:
+	void updateCheckBoxes();
+
+signals:
+	void visibilityChanged(int id, bool visible);
+
+private:
+	std::map<int, Transform> _poses;
+};
+
+} /* namespace rtabmap */
+#endif /* MAPVISIBILITYWIDGET_H_ */

guilib/src/PreferencesDialog.cpp

@@ -137,6 +137,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->buttonBox_local, SIGNAL(clicked(QAbstractButton *)), this, SLOT(resetApply(QAbstractButton *)));
 	connect(_ui->pushButton_loadConfig, SIGNAL(clicked()), this, SLOT(loadConfigFrom()));
 	connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo()));
+	connect(_ui->pushButton_resetConfig, SIGNAL(clicked()), this, SLOT(resetConfig()));
 	connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView()));
 	connect(_ui->pushButton_testSourceOdometry, SIGNAL(clicked()), this, SLOT(testSourceOdometry()));
 
@@ -374,19 +375,19 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
 	_ui->odomScanHistory->setObjectName(Parameters::kRGBDScanMatchingSize().c_str());
 
-	_ui->localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
-	_ui->localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());
+	_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
+	_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());
 	_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalLoopDetectionRadius().c_str());
 	_ui->localDetection_maxNeighbors->setObjectName(Parameters::kRGBDLocalLoopDetectionNeighbors().c_str());
-
-	_ui->loopClosure_icpEnabled->setObjectName(Parameters::kLccIcpEnabled().c_str());
-	_ui->loopClosure_icpType->setObjectName(Parameters::kLccIcpType().c_str());
+	_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDLocalLoopDetectionMaxDiffID().c_str());
 
 	_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kLccBowMinInliers().c_str());
 	_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
 	_ui->loopClosure_bowIterations->setObjectName(Parameters::kLccBowIterations().c_str());
 	_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
 
+	_ui->globalDetection_icpType->setObjectName(Parameters::kLccIcpType().c_str());
+
 	_ui->loopClosure_icpDecimation->setObjectName(Parameters::kLccIcp3Decimation().c_str());
 	_ui->loopClosure_icpMaxDepth->setObjectName(Parameters::kLccIcp3MaxDepth().c_str());
 	_ui->loopClosure_icpVoxelSize->setObjectName(Parameters::kLccIcp3VoxelSize().c_str());
@@ -399,6 +400,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->loopClosure_icp2Iterations->setObjectName(Parameters::kLccIcp2Iterations().c_str());
 	_ui->loopClosure_icp2MaxFitness->setObjectName(Parameters::kLccIcp2MaxFitness().c_str());
 	_ui->loopClosure_icp2Ratio->setObjectName(Parameters::kLccIcp2CorrespondenceRatio().c_str());
+	_ui->loopClosure_icp2Voxel->setObjectName(Parameters::kLccIcp2VoxelSize().c_str());
 
 	//Odometry
 	_ui->odom_type->setObjectName(Parameters::kOdomType().c_str());
@@ -589,6 +591,7 @@ void PreferencesDialog::setupSignals()
 			QCheckBox * check = qobject_cast<QCheckBox *>(obj);
 			QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
 			QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
+			QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
 			if(spin)
 			{
 				connect(spin, SIGNAL(valueChanged(int)), this, SLOT(addParameter(int)));
@@ -613,6 +616,10 @@ void PreferencesDialog::setupSignals()
 			{
 				connect(lineEdit, SIGNAL(textChanged(const QString &)), this, SLOT(addParameter(const QString &)));
 			}
+			else if(groupBox)
+			{
+				connect(groupBox, SIGNAL(clicked(bool)), this, SLOT(addParameter(bool)));
+			}
 			else
 			{
 				ULOGGER_WARN("QObject called %s can't be cast to a supported widget", (*iter).first.c_str());
@@ -823,6 +830,13 @@ void PreferencesDialog::resetSettings(int panelNumber)
 	{
 		this->resetSettings(boxes.at(panelNumber));
 	}
+	else if(panelNumber == -1)
+	{
+		for(QList<QGroupBox*>::iterator iter = boxes.begin(); iter!=boxes.end(); ++iter)
+		{
+			this->resetSettings(*iter);
+		}
+	}
 	else
 	{
 		ULOGGER_WARN("panel number and the number of stacked widget doesn't match");
@@ -856,7 +870,7 @@ QString PreferencesDialog::getIniFilePath() const
 
 void PreferencesDialog::loadConfigFrom()
 {
-	QString path = QFileDialog::getOpenFileName(this, tr("Load configurations..."), this->getWorkingDirectory(), "*.ini");
+	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), this->getWorkingDirectory(), "*.ini");
 	if(!path.isEmpty())
 	{
 		this->readSettings(path);
@@ -1054,12 +1068,28 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
 	return true;
 }
 
-void PreferencesDialog::saveConfigTo()
+bool PreferencesDialog::saveConfigTo()
 {
-	QString path = QFileDialog::getSaveFileName(this, tr("Save configurations..."), this->getWorkingDirectory()+"/config.ini", "*.ini");
+	QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), this->getWorkingDirectory()+"/config.ini", "*.ini");
 	if(!path.isEmpty())
 	{
 		this->writeSettings(path);
+		return true;
+	}
+	return false;
+}
+
+void PreferencesDialog::resetConfig()
+{
+	int button = QMessageBox::warning(this,
+			tr("Reset settings..."),
+			tr("This will reset all settings. Restore all settings to default without saving them first?"),
+			   QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::Save,
+			   QMessageBox::Cancel);
+	if(button == QMessageBox::Yes ||
+	   (button == QMessageBox::Save && saveConfigTo()))
+	{
+		this->resetSettings(-1);
 	}
 }
 
@@ -1204,6 +1234,7 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath)
 			QCheckBox * check = qobject_cast<QCheckBox *>(obj);
 			QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
 			QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
+			QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
 			if(spin)
 			{
 				settings.setValue(obj->objectName(), spin->value());
@@ -1228,6 +1259,10 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath)
 			{
 				settings.setValue(obj->objectName(), lineEdit->text());
 			}
+			else if(groupBox)
+			{
+				settings.setValue(obj->objectName(), uBool2Str(groupBox->isChecked()).c_str());
+			}
 			else
 			{
 				ULOGGER_WARN("QObject called %s can't be cast to a supported widget", (*iter).first.c_str());
@@ -1599,6 +1634,7 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
 		QCheckBox * check = qobject_cast<QCheckBox *>(obj);
 		QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
 		QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
+		QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
 		bool ok;
 		if(spin)
 		{
@@ -1636,6 +1672,10 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
 		{
 			lineEdit->setText(value.c_str());
 		}
+		else if(groupBox)
+		{
+			groupBox->setChecked(uStr2Bool(value.c_str()));
+		}
 		else
 		{
 			ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
@@ -1755,17 +1795,15 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
 						_ui->stackedWidget_odom->setCurrentIndex(2);
 					}
 				}
-				else if(comboBox == _ui->loopClosure_icpType)
+				else if(comboBox == _ui->globalDetection_icpType)
 				{
-					if(value == 0) // 0 icp3
+					if(value == 1) // 1 icp3
 					{
 						this->addParameters(_ui->groupBox_loopClosure_icp3);
-						_ui->stackedWidget_loopClosureICP->setCurrentIndex(0);
 					}
-					else if(value == 1) // 1 icp2
+					else if(value == 2) // 2 icp2
 					{
 						this->addParameters(_ui->groupBox_loopClosure_icp2);
-						_ui->stackedWidget_loopClosureICP->setCurrentIndex(1);
 					}
 				}
 			}
@@ -1797,28 +1835,38 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
 
 		const QCheckBox * checkbox = qobject_cast<const QCheckBox*>(object);
 		const QRadioButton * radio = qobject_cast<const QRadioButton*>(object);
-		if(checkbox || radio)
+		const QGroupBox * groupBox = qobject_cast<const QGroupBox*>(object);
+		if(checkbox || radio || groupBox)
 		{
 			// Add parameter
 			_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
 
+			// RGBD panel
 			if(value && checkbox == _ui->general_checkBox_activateRGBD)
 			{
 				// add all RGBD parameters!
-				this->addParameter(_ui->rgdb_linearUpdate, _ui->rgdb_linearUpdate->value());
-				this->addParameter(_ui->rgdb_angularUpdate, _ui->rgdb_linearUpdate->value());
-				this->addParameter(_ui->odomScanHistory, _ui->odomScanHistory->value());
-				this->addParameters(_ui->groupBox_local_loop_closure);
-
-				this->addParameters(_ui->groupBox_lcc_bow);
-				if(_ui->loopClosure_icpEnabled->isChecked())
-				{
-					this->addParameter(_ui->loopClosure_icpType, _ui->loopClosure_icpType->currentIndex());
-				}
+				this->addParameters(_ui->groupBox_slam_update);
+				this->addParameters(_ui->groupBox_odom_correction);
+				this->addParameters(_ui->groupBox_localDetection_time);
+				this->addParameters(_ui->groupBox_localDetection_space);
+				this->addParameters(_ui->groupBox_globalConstraints);
+				this->addParameters(_ui->groupBox_visualTransform2);
 			}
-			if(value && checkbox == _ui->loopClosure_icpEnabled)
+
+			if(groupBox)
 			{
-				this->addParameter(_ui->loopClosure_icpType, _ui->loopClosure_icpType->currentIndex());
+				// RGBD panel
+				if(value && groupBox == _ui->groupBox_localDetection_time)
+				{
+					this->addParameters(_ui->groupBox_globalConstraints);
+					this->addParameters(_ui->groupBox_visualTransform2);
+				}
+				if(value && groupBox == _ui->groupBox_localDetection_space)
+				{
+					this->addParameters(_ui->groupBox_loopClosure_icp2);
+				}
+
+				this->addParameters(groupBox);
 			}
 		}
 		else
@@ -1910,7 +1958,14 @@ void PreferencesDialog::addParameters(const QObjectList & children)
 		}
 		else if(groupBox)
 		{
-			this->addParameters(groupBox);
+			if(groupBox->isCheckable())
+			{
+				this->addParameter(groupBox, groupBox->isChecked());
+			}
+			else
+			{
+				this->addParameters(groupBox);
+			}
 		}
 		else if(stackedWidget)
 		{

guilib/src/ui/DatabaseViewer.ui

@@ -288,7 +288,7 @@
      <x>0</x>
      <y>0</y>
      <width>736</width>
-     <height>21</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -297,6 +297,8 @@
     </property>
     <addaction name="actionOpen_database"/>
     <addaction name="separator"/>
+    <addaction name="actionExport"/>
+    <addaction name="separator"/>
     <addaction name="actionQuit"/>
    </widget>
    <widget class="QMenu" name="menuEdit">
@@ -359,6 +361,11 @@
     <string>Generate 3D map (.pcd) ...</string>
    </property>
   </action>
+  <action name="actionExport">
+   <property name="text">
+    <string>Export...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>

guilib/src/ui/exportDialog.ui

@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ExportDialog</class>
+ <widget class="QDialog" name="ExportDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>371</width>
+    <height>236</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Export...</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QSpinBox" name="spinBox_ignored">
+       <property name="suffix">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>Frames ignored</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="checkBox_rgb">
+     <property name="text">
+      <string>RGB images</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="checkBox_depth">
+     <property name="text">
+      <string>Depth images</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="checkBox_depth2d">
+     <property name="text">
+      <string>Depth 2D (laser scans)</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="checkBox_odom">
+     <property name="text">
+      <string>Odometry</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QLineEdit" name="lineEdit_path">
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QToolButton" name="toolButton_path">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>ExportDialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>ExportDialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

guilib/src/ui/mainWindow.ui

@@ -102,7 +102,7 @@
      <x>0</x>
      <y>0</y>
      <width>809</width>
-     <height>21</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -128,6 +128,7 @@
     <addaction name="actionDump_the_prediction_matrix"/>
     <addaction name="actionGenerate_map"/>
     <addaction name="actionGenerate_local_map"/>
+    <addaction name="actionGenerate_TORO_graph_graph"/>
     <addaction name="separator"/>
     <addaction name="actionView_high_res_point_cloud"/>
     <addaction name="actionSave_point_cloud"/>
@@ -620,6 +621,27 @@
     </layout>
    </widget>
   </widget>
+  <widget class="QDockWidget" name="dockWidget_mapVisibility">
+   <property name="windowTitle">
+    <string>Map visibility</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>8</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_8">
+    <layout class="QVBoxLayout" name="verticalLayout_9">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+     <property name="margin">
+      <number>0</number>
+     </property>
+     <item>
+      <widget class="rtabmap::MapVisibilityWidget" name="widget_mapVisibility" native="true"/>
+     </item>
+    </layout>
+   </widget>
+  </widget>
   <action name="actionExit">
    <property name="text">
     <string>Exit</string>
@@ -909,6 +931,11 @@
     <string>Trigger a new map</string>
    </property>
   </action>
+  <action name="actionGenerate_TORO_graph_graph">
+   <property name="text">
+    <string>Generate TORO graph (*.graph)...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>
@@ -946,6 +973,12 @@
    <header>../include/rtabmap/gui/LoopClosureViewer.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>rtabmap::MapVisibilityWidget</class>
+   <extends>QWidget</extends>
+   <header>MapVisibilityWidget.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../GuiLib.qrc"/>