0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

corelib/src/Memory.cpp

@@ -2251,7 +2251,7 @@ Transform Memory::computeTransform(
 
 	if(fromS && toS)
 	{
-		return computeTransform(*fromS, *toS, guess, info, useKnownCorrespondencesIfPossible);
+		transform = computeTransform(*fromS, *toS, guess, info, useKnownCorrespondencesIfPossible);
 	}
 	else
 	{
@@ -3515,7 +3515,12 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 	}
 	else if(_feature2D->getMaxFeatures() >= 0 && !isIntermediateNode)
 	{
-		UINFO("Use odometry features");
+		UINFO("Use odometry features: kpts=%d 3d=%d desc=%d (dim=%d, type=%d)",
+				(int)data.keypoints().size(),
+				(int)data.keypoints3D().size(),
+				data.descriptors().rows,
+				data.descriptors().cols,
+				data.descriptors().type());
 		keypoints = data.keypoints();
 		keypoints3D = data.keypoints3D();
 		descriptors = data.descriptors().clone();