Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).

CMakeLists.txt

@@ -192,6 +192,7 @@ option(WITH_OKVIS         "Include OKVIS support"                ON)
 option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"           OFF)
 option(WITH_VINS          "Include VINS-Fusion support"          ON)
 option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
+option(WITH_FASTCV        "Include FastCV support"               ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
@@ -517,6 +518,12 @@ IF(WITH_VINS)
     ENDIF(vins_FOUND)
 ENDIF(WITH_VINS)
 
+IF(WITH_FASTCV)
+    FIND_PACKAGE(FastCV QUIET)
+    IF(FastCV_FOUND)
+       MESSAGE(STATUS "Found FastCV: ${FastCV_INCLUDE_DIRS}")
+    ENDIF(FastCV_FOUND)
+ENDIF(WITH_FASTCV)
 
 IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
     FIND_PACKAGE(ORB_SLAM2 QUIET)
@@ -645,6 +652,9 @@ ENDIF()
 IF(NOT libpointmatcher_FOUND)
    SET(POINTMATCHER "//")
 ENDIF(NOT libpointmatcher_FOUND)
+IF(NOT FastCV_FOUND)
+   SET(FASTCV "//")
+ENDIF(NOT FastCV_FOUND)
 IF(NOT loam_velodyne_FOUND)
    SET(LOAM "//")
 ENDIF(NOT loam_velodyne_FOUND)
@@ -977,6 +987,14 @@ IF(OpenCV_FOUND)
   ENDIF()
 ENDIF(OpenCV_FOUND)
 
+IF(FastCV_FOUND)
+MESSAGE(STATUS "  With FastCV               = YES (License: Apache v2)")
+ELSEIF(NOT WITH_FASTCV)
+MESSAGE(STATUS "  With FastCV               = NO (WITH_FASTCV=OFF)")
+ELSE()
+MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
+ENDIF()
+
 IF(Sqlite3_FOUND)
 MESSAGE(STATUS "  With external SQLite3     = YES (License: Public Domain)")
 ELSE()

Version.h.in

@@ -51,6 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @K4A@#define RTABMAP_K4A
 @CVSBA@#define RTABMAP_CVSBA
 @POINTMATCHER@#define RTABMAP_POINTMATCHER
+@FASTCV@#define RTABMAP_FASTCV
 @LOAM@#define RTABMAP_LOAM
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2

cmake_modules/FindFastCV.cmake

@@ -0,0 +1,37 @@
+# - Find FastCV (https://developer.qualcomm.com/software/fastcv-sdk)
+#
+# It sets the following variables:
+#  FastCV_FOUND         - Set to false, or undefined, if FastCV isn't found.
+#  FastCV_INCLUDE_DIRS  - The FastCV include directory.
+#  FastCV_LIBRARIES     - The FastCV library to link against.
+
+IF(NOT WIN32 AND NOT APPLE)
+
+   EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+   MESSAGE( STATUS "Architecture: ${ARCHITECTURE}" )
+
+   # Currently only tested on aarch64!
+   IF(${ARCHITECTURE} STREQUAL "aarch64")
+      find_path(FastCV_INCLUDE_DIRS NAMES fastcv.h PATH_SUFFIXES fastcv)
+      find_library(FastCV_LIBRARY NAMES fastcvopt fastcv)
+   ENDIF(${ARCHITECTURE} STREQUAL "aarch64")
+ENDIF(NOT WIN32 AND NOT APPLE)
+
+IF (FastCV_INCLUDE_DIRS AND FastCV_LIBRARY)
+   SET(FastCV_FOUND TRUE)
+ENDIF (FastCV_INCLUDE_DIRS AND FastCV_LIBRARY)
+
+IF (FastCV_FOUND)
+   SET(FastCV_LIBRARIES ${FastCV_LIBRARY})
+     
+   # show which RealSense was found only if not quiet
+   IF (NOT FastCV_FIND_QUIETLY)
+      MESSAGE(STATUS "Found FastCV: ${FastCV_LIBRARIES}")
+   ENDIF (NOT FastCV_FIND_QUIETLY)
+ELSE (FastCV_FOUND)
+   # fatal error if RealSense is required but not found
+   IF (FastCV_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find FastCV")
+   ENDIF (FastCV_FIND_REQUIRED)
+ENDIF (FastCV_FOUND)
+

corelib/include/rtabmap/core/Features2d.h

@@ -289,6 +289,14 @@ private:
 	int maxThreshold_;
 	int gridRows_;
 	int gridCols_;
+	int fastCV_;
+
+	bool fastCVinit_;
+	int fastCVMaxFeatures_;
+	int fastCVLastImageHeight_;
+	uint32_t* fastCVCorners_= NULL;
+	uint32_t* fastCVCornerScores_ = NULL;
+	void* fastCVTempBuf_ = NULL;
 
 	cv::Ptr<cv::FeatureDetector> _fast;
 	cv::Ptr<CV_FAST_GPU> _gpuFast;

corelib/include/rtabmap/core/Parameters.h

@@ -290,6 +290,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(FAST, MaxThreshold,       int, 200,     "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
     RTABMAP_PARAM(FAST, GridRows,           int, 0,       "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
     RTABMAP_PARAM(FAST, GridCols,           int, 0,       "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+    RTABMAP_PARAM(FAST, CV,                 int, 0,       "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
 
     RTABMAP_PARAM(GFTT, QualityLevel,      double, 0.001, "");
     RTABMAP_PARAM(GFTT, MinDistance,       double, 3,    "");

corelib/include/rtabmap/core/VWDictionary.h

@@ -115,7 +115,8 @@ private:
 	bool _incrementalFlann;
 	float _rebalancingFactor;
 	float _nndrRatio;
-	std::string _dictionaryPath; // a pre-computed dictionary (.txt)
+	std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
+	std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
 	bool _newWordsComparedTogether;
 	int _lastWordId;
 	bool useDistanceL1_;

corelib/src/CMakeLists.txt

@@ -1,17 +1,17 @@
 
 SET(SRC_FILES
-	Rtabmap.cpp
+    Rtabmap.cpp
-	RtabmapThread.cpp
+    RtabmapThread.cpp
     
-	Statistics.cpp
+    Statistics.cpp
     
-	Memory.cpp
+    Memory.cpp
     
-	DBDriver.cpp
+    DBDriver.cpp
-	DBDriverSqlite3.cpp
+    DBDriverSqlite3.cpp
-	DBReader.cpp
+    DBReader.cpp
     
-	Recovery.cpp
+    Recovery.cpp
     
     Camera.cpp
     CameraThread.cpp
@@ -33,88 +33,88 @@ SET(SRC_FILES
     camera/CameraStereoImages.cpp
     camera/CameraStereoVideo.cpp
     camera/CameraStereoZed.cpp
-	camera/CameraStereoTara.cpp
+    camera/CameraStereoTara.cpp
     camera/CameraVideo.cpp
     
     EpipolarGeometry.cpp
-	VisualWord.cpp
+    VisualWord.cpp
-	VWDictionary.cpp
+    VWDictionary.cpp
-	BayesFilter.cpp
+    BayesFilter.cpp
-	Parameters.cpp
+    Parameters.cpp
     Signature.cpp
-	Features2d.cpp
+    Features2d.cpp
-	Transform.cpp
+    Transform.cpp
-	GeodeticCoords.cpp
+    GeodeticCoords.cpp
     
-	util2d.cpp
+    util2d.cpp
     
-	util3d.cpp
+    util3d.cpp
-	util3d_filtering.cpp
+    util3d_filtering.cpp
-	util3d_mapping.cpp
+    util3d_mapping.cpp
-	util3d_transforms.cpp
+    util3d_transforms.cpp
-	util3d_registration.cpp
+    util3d_registration.cpp
-	util3d_surface.cpp
+    util3d_surface.cpp
-	util3d_features.cpp
+    util3d_features.cpp
-	util3d_correspondences.cpp
+    util3d_correspondences.cpp
-	util3d_motion_estimation.cpp
+    util3d_motion_estimation.cpp
     
-	SensorData.cpp
+    SensorData.cpp
-	Graph.cpp
+    Graph.cpp
-	Compression.cpp
+    Compression.cpp
-	Link.cpp
+    Link.cpp
-	LaserScan.cpp
+    LaserScan.cpp
     
-	Optimizer.cpp
+    Optimizer.cpp
-	optimizer/OptimizerTORO.cpp
+    optimizer/OptimizerTORO.cpp
-	optimizer/OptimizerG2O.cpp
+    optimizer/OptimizerG2O.cpp
-	optimizer/OptimizerGTSAM.cpp
+    optimizer/OptimizerGTSAM.cpp
-	optimizer/OptimizerCVSBA.cpp
+    optimizer/OptimizerCVSBA.cpp
     
-	Registration.cpp
+    Registration.cpp
-	RegistrationIcp.cpp
+    RegistrationIcp.cpp
-	RegistrationVis.cpp
+    RegistrationVis.cpp
     
-	Odometry.cpp
+    Odometry.cpp
-	OdometryThread.cpp
+    OdometryThread.cpp
-	odometry/OdometryF2M.cpp
+    odometry/OdometryF2M.cpp
-	odometry/OdometryMono.cpp
+    odometry/OdometryMono.cpp
-	odometry/OdometryF2F.cpp
+    odometry/OdometryF2F.cpp
-	odometry/OdometryFovis.cpp
+    odometry/OdometryFovis.cpp
-	odometry/OdometryViso2.cpp
+    odometry/OdometryViso2.cpp
-	odometry/OdometryDVO.cpp
+    odometry/OdometryDVO.cpp
-	odometry/OdometryOkvis.cpp
+    odometry/OdometryOkvis.cpp
-	odometry/OdometryORBSLAM2.cpp
+    odometry/OdometryORBSLAM2.cpp
-	odometry/OdometryLOAM.cpp
+    odometry/OdometryLOAM.cpp
-	odometry/OdometryMSCKF.cpp
+    odometry/OdometryMSCKF.cpp
-	odometry/OdometryVINS.cpp
+    odometry/OdometryVINS.cpp
     
-	IMUThread.cpp
+    IMUThread.cpp
-	IMUFilter.cpp
+    IMUFilter.cpp
-	imufilter/ComplementaryFilter.cpp
+    imufilter/ComplementaryFilter.cpp
     
-	Stereo.cpp
+    Stereo.cpp
-	StereoDense.cpp
+    StereoDense.cpp
-	StereoCameraModel.cpp
+    StereoCameraModel.cpp
-	stereo/StereoBM.cpp
+    stereo/StereoBM.cpp
-	stereo/StereoSGBM.cpp
+    stereo/StereoSGBM.cpp
     
-	OccupancyGrid.cpp
+    OccupancyGrid.cpp
     
-	MarkerDetector.cpp
+    MarkerDetector.cpp
     
-	GainCompensator.cpp
+    GainCompensator.cpp
 
-	rtflann/ext/lz4.c
+    rtflann/ext/lz4.c
-	rtflann/ext/lz4hc.c
+    rtflann/ext/lz4hc.c
-	FlannIndex.cpp	
+    FlannIndex.cpp
     
-	#clams stuff
+    #clams stuff
-	clams/discrete_depth_distortion_model_helpers.cpp
+    clams/discrete_depth_distortion_model_helpers.cpp
-	clams/discrete_depth_distortion_model.cpp
+    clams/discrete_depth_distortion_model.cpp
-	clams/frame_projector.cpp
+    clams/frame_projector.cpp
-	clams/slam_calibrator.cpp
+    clams/slam_calibrator.cpp
     
-	opencv/ORBextractor.cc
+    opencv/ORBextractor.cc
 )
 
 IF(OpenCV_VERSION_MAJOR EQUAL 2)
@@ -348,6 +348,17 @@ IF(libpointmatcher_FOUND)
 	)
 ENDIF(libpointmatcher_FOUND)
 
+IF(FastCV_FOUND)
+	SET(INCLUDE_DIRS 
+		${INCLUDE_DIRS} 
+		${FastCV_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${FastCV_LIBRARIES}
+	)
+ENDIF(FastCV_FOUND)
+
 IF(loam_velodyne_FOUND)
 	SET(INCLUDE_DIRS 
 		${INCLUDE_DIRS} 

corelib/src/Features2d.cpp

@@ -65,6 +65,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   #include <opencv2/xfeatures2d/cuda.hpp>
 #endif
 
+#ifdef RTABMAP_FASTCV
+#include <fastcv.h>
+#endif
+
 namespace rtabmap {
 
 void Feature2D::filterKeypointsByDepth(
@@ -1081,13 +1085,66 @@ FAST::FAST(const ParametersMap & parameters) :
 		minThreshold_(Parameters::defaultFASTMinThreshold()),
 		maxThreshold_(Parameters::defaultFASTMaxThreshold()),
 		gridRows_(Parameters::defaultFASTGridRows()),
-		gridCols_(Parameters::defaultFASTGridCols())
+		gridCols_(Parameters::defaultFASTGridCols()),
+		fastCV_(Parameters::defaultFASTCV()),
+		fastCVinit_(false),
+		fastCVMaxFeatures_(10000),
+		fastCVLastImageHeight_(0)
 {
+#ifdef RTABMAP_FASTCV
+	char sVersion[128] = { 0 };
+	fcvGetVersion(sVersion, 128);
+	UINFO("fastcv version = %s", sVersion);
+	int ix;
+	if ((ix = fcvSetOperationMode(FASTCV_OP_PERFORMANCE)))
+	{
+		UERROR("fcvSetOperationMode return=%d, OpenCV FAST will be used instead!", ix);
+		fastCV_ = 0;
+	}
+	else
+	{
+		fcvMemInit();
+
+		if (!(fastCVCorners_ = (uint32_t*)fcvMemAlloc(fastCVMaxFeatures_ * sizeof(uint32_t) * 2, 16)) ||
+			!(fastCVCornerScores_ = (uint32_t*)fcvMemAlloc( fastCVMaxFeatures_ * sizeof(uint32_t), 16 )))
+		{
+			UERROR("could not alloc fastcv mem, using opencv fast instead!");
+
+			if (fastCVCorners_)
+			{
+				fcvMemFree(fastCVCorners_);
+				fastCVCorners_ = NULL;
+			}
+			if (fastCVCornerScores_)
+			{
+				fcvMemFree(fastCVCornerScores_);
+				fastCVCornerScores_ = NULL;
+			}
+		}
+		else
+		{
+			fastCVinit_ = true;
+		}
+	}
+	#endif
 	parseParameters(parameters);
 }
 
 FAST::~FAST()
 {
+#ifdef RTABMAP_FASTCV
+	if(fastCVinit_)
+	{
+		fcvMemDeInit();
+
+		if (fastCVCorners_)
+			fcvMemFree(fastCVCorners_);
+		if (fastCVCornerScores_)
+			fcvMemFree(fastCVCornerScores_);
+		if (fastCVTempBuf_)
+			fcvMemFree(fastCVTempBuf_);
+	}
+#endif
 }
 
 void FAST::parseParameters(const ParametersMap & parameters)
@@ -1104,6 +1161,9 @@ void FAST::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kFASTGridRows(), gridRows_);
 	Parameters::parse(parameters, Parameters::kFASTGridCols(), gridCols_);
 
+	Parameters::parse(parameters, Parameters::kFASTCV(), fastCV_);
+	UASSERT(fastCV_ == 0 || fastCV_ == 9 || fastCV_ == 10);
+
 	UASSERT_MSG(threshold_ >= minThreshold_, uFormat("%d vs %d", threshold_, minThreshold_).c_str());
 	UASSERT_MSG(threshold_ <= maxThreshold_, uFormat("%d vs %d", threshold_, maxThreshold_).c_str());
 
@@ -1183,6 +1243,69 @@ std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, con
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 	std::vector<cv::KeyPoint> keypoints;
+
+#ifdef RTABMAP_FASTCV
+	if(fastCV_>0)
+	{
+		// Note: mask not supported, it should be the inverse of the current mask used (0=where to extract)
+		uint32_t nCorners = 0;
+
+		UASSERT(fastCVCorners_ != NULL && fastCVCornerScores_ != NULL);
+		if (nonmaxSuppression_)
+		{
+			if(fastCVTempBuf_==NULL || (fastCVTempBuf_!= NULL && fastCVLastImageHeight_!= image.rows))
+			{
+				if (fastCVTempBuf_)
+				{
+					fcvMemFree(fastCVTempBuf_);
+					fastCVTempBuf_ = NULL;
+				}
+				if(!(fastCVTempBuf_ = (uint32_t*)fcvMemAlloc( (3*fastCVMaxFeatures_+image.rows+1)*4, 16 )))
+				{
+					UERROR("could not alloc fastcv mem for temp buf (%s=true)", Parameters::kFASTNonmaxSuppression().c_str());
+					fastCVLastImageHeight_ = 0;
+					return keypoints;
+				}
+				fastCVLastImageHeight_ = image.rows;
+			}
+		}
+
+		// image.data should be 128 bits aligned
+		UDEBUG("%dx%d (step=%d) thr=%d maxFeatures=%d", image.cols, image.rows, image.step1(), threshold_, fastCVMaxFeatures_);
+		if(fastCV_ == 10)
+		{
+			fcvCornerFast10Scoreu8(image.data, image.cols, image.rows, 0, threshold_, 0, fastCVCorners_, fastCVCornerScores_, fastCVMaxFeatures_, &nCorners, nonmaxSuppression_?1:0, fastCVTempBuf_);
+		}
+		else
+		{
+			fcvCornerFast9Scoreu8_v2(image.data, image.cols, image.rows, image.step1(), threshold_, 0, fastCVCorners_, fastCVCornerScores_, fastCVMaxFeatures_, &nCorners, nonmaxSuppression_?1:0, fastCVTempBuf_);
+		}
+		UDEBUG("number of corners found = %d:", nCorners);
+		keypoints.resize(nCorners);
+		for (uint32_t i = 0; i < nCorners; i++)
+		{
+			keypoints[i].pt.x = fastCVCorners_[i * 2];
+			keypoints[i].pt.y = fastCVCorners_[(i * 2) + 1];
+			keypoints[i].size = 3;
+			keypoints[i].response = fastCVCornerScores_[i];
+		}
+
+		if(this->getMaxFeatures() > 0)
+		{
+			this->limitKeypoints(keypoints, this->getMaxFeatures());
+		}
+		return keypoints;
+	}
+#endif
+
+	if(fastCV_>0)
+	{
+		UWARN(  "RTAB-Map is not built with FastCV support. OpenCV's FAST is used instead. "
+				"Please set %s to 0. This message will only appear once.",
+				Parameters::kFASTCV().c_str());
+		fastCV_ = 0;
+	}
+
 	cv::Mat imgRoi(image, roi);
 	cv::Mat maskRoi;
 	if(!mask.empty())

corelib/src/FlannIndex.cpp

@@ -49,6 +49,7 @@ FlannIndex::~FlannIndex()
 
 void FlannIndex::release()
 {
+	UDEBUG("");
 	if(index_)
 	{
 		if(featuresType_ == CV_8UC1)
@@ -76,6 +77,7 @@ void FlannIndex::release()
 	isLSH_ = false;
 	addedDescriptors_.clear();
 	removedIndexes_.clear();
+	UDEBUG("");
 }
 
 unsigned int FlannIndex::indexedFeatures() const
@@ -138,6 +140,7 @@ void FlannIndex::buildLinearIndex(
 		bool useDistanceL1,
 		float rebalancingFactor)
 {
+	UDEBUG("");
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -178,6 +181,7 @@ void FlannIndex::buildLinearIndex(
 	addedDescriptors_.insert(std::make_pair(nextIndex_, features));
 
 	nextIndex_ = features.rows;
+	UDEBUG("");
 }
 
 void FlannIndex::buildKDTreeIndex(
@@ -186,6 +190,7 @@ void FlannIndex::buildKDTreeIndex(
 		bool useDistanceL1,
 		float rebalancingFactor)
 {
+	UDEBUG("");
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -226,6 +231,7 @@ void FlannIndex::buildKDTreeIndex(
 	addedDescriptors_.insert(std::make_pair(nextIndex_, features));
 
 	nextIndex_ = features.rows;
+	UDEBUG("");
 }
 
 void FlannIndex::buildKDTreeSingleIndex(
@@ -235,6 +241,7 @@ void FlannIndex::buildKDTreeSingleIndex(
 		bool useDistanceL1,
 		float rebalancingFactor)
 {
+	UDEBUG("");
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -275,6 +282,7 @@ void FlannIndex::buildKDTreeSingleIndex(
 	addedDescriptors_.insert(std::make_pair(nextIndex_, features));
 
 	nextIndex_ = features.rows;
+	UDEBUG("");
 }
 
 void FlannIndex::buildLSHIndex(
@@ -284,6 +292,7 @@ void FlannIndex::buildLSHIndex(
 		unsigned int multi_probe_level,
 		float rebalancingFactor)
 {
+	UDEBUG("");
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_8UC1);
@@ -300,6 +309,7 @@ void FlannIndex::buildLSHIndex(
 	addedDescriptors_.insert(std::make_pair(nextIndex_, features));
 
 	nextIndex_ = features.rows;
+	UDEBUG("");
 }
 
 bool FlannIndex::isBuilt()

corelib/src/Parameters.cpp

@@ -605,6 +605,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
+#endif
+				str = "With FastCV:";
+#ifdef RTABMAP_FASTCV
+				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
+#else
+				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
 #endif
 				str = "With Madgwick:";
 #ifdef RTABMAP_MADGWICK

corelib/src/VWDictionary.cpp

@@ -66,7 +66,7 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
 	_incrementalFlann(Parameters::defaultKpIncrementalFlann()),
 	_rebalancingFactor(Parameters::defaultKpFlannRebalancingFactor()),
 	_nndrRatio(Parameters::defaultKpNndrRatio()),
-	_dictionaryPath(Parameters::defaultKpDictionaryPath()),
+	_newDictionaryPath(Parameters::defaultKpDictionaryPath()),
 	_newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()),
 	_lastWordId(0),
 	useDistanceL1_(false),
@@ -93,11 +93,10 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 
 	UASSERT_MSG(_nndrRatio > 0.0f, uFormat("String=%s value=%f", uContains(parameters, Parameters::kKpNndrRatio())?parameters.at(Parameters::kKpNndrRatio()).c_str():"", _nndrRatio).c_str());
 
-	std::string dictionaryPath = _dictionaryPath;
 	bool incrementalDictionary = _incrementalDictionary;
 	if((iter=parameters.find(Parameters::kKpDictionaryPath())) != parameters.end())
 	{
-		dictionaryPath = (*iter).second.c_str();
+		_newDictionaryPath = (*iter).second.c_str();
 	}
 	if((iter=parameters.find(Parameters::kKpIncrementalDictionary())) != parameters.end())
 	{
@@ -115,11 +114,7 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 	{
 		this->setIncrementalDictionary();
 	}
-	else
+	_incrementalDictionary = incrementalDictionary;
-	{
-		this->setFixedDictionary(dictionaryPath);
-	}
-
 }
 
 void VWDictionary::setIncrementalDictionary()
@@ -133,21 +128,23 @@ void VWDictionary::setIncrementalDictionary()
 		}
 	}
 	_dictionaryPath = "";
+	_newDictionaryPath = "";
 }
 
 void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 {
+	UDEBUG("");
 	if(!dictionaryPath.empty())
 	{
 		if((!_incrementalDictionary && _dictionaryPath.compare(dictionaryPath) != 0) ||
 		   _visualWords.size() == 0)
 		{
-			UDEBUG("incremental=%d, oldPath=%s newPath=%s, visual words=%d",
+			UINFO("incremental=%d, oldPath=%s newPath=%s, visual words=%d",
 					_incrementalDictionary?1:0, _dictionaryPath.c_str(), dictionaryPath.c_str(), (int)_visualWords.size());
 
 			if(UFile::getExtension(dictionaryPath).compare("db") == 0)
 			{
-				UDEBUG("Loading fixed vocabulary \"%s\", this may take a while...", dictionaryPath.c_str());
+				UWARN("Loading fixed vocabulary \"%s\", this may take a while...", dictionaryPath.c_str());
 				DBDriver * driver = DBDriver::create();
 				if(driver->openConnection(dictionaryPath, false))
 				{
@@ -252,9 +249,11 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 			}
 			else
 			{
-				this->update();
+				_dictionaryPath = dictionaryPath;
+				_newDictionaryPath = dictionaryPath;
 				_incrementalDictionary = false;
-				UDEBUG("Loaded %d words!", (int)_visualWords.size());
+				this->update();
+				UWARN("Loaded %d words!", (int)_visualWords.size());
 			}
 		}
 		else if(!_incrementalDictionary)
@@ -275,6 +274,7 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 		_incrementalDictionary = false;
 	}
 	_dictionaryPath = dictionaryPath;
+	_newDictionaryPath = dictionaryPath;
 }
 
 void VWDictionary::setNNStrategy(NNStrategy strategy)
@@ -402,13 +402,19 @@ cv::Mat VWDictionary::convert32FToBin(const cv::Mat & descriptorsIn)
 
 void VWDictionary::update()
 {
-	ULOGGER_DEBUG("");
+	ULOGGER_DEBUG("incremental=%d", _incrementalDictionary?1:0);
-	if(!_incrementalDictionary && !_notIndexedWords.size())
+	if(!_incrementalDictionary)
 	{
-		// No need to update the search index if we
+		// reload the fixed dictionary if it has been cleared or not yet initialized
-		// use a fixed dictionary and the index is
+		this->setFixedDictionary(_newDictionaryPath);
-		// already built
+
-		return;
+		if(!_incrementalDictionary && !_notIndexedWords.size())
+		{
+			// No need to update the search index if we
+			// use a fixed dictionary and the index is
+			// already built
+			return;
+		}
 	}
 
 	if(_notIndexedWords.size() || _visualWords.size() == 0 || _removedIndexedWords.size())
@@ -643,12 +649,6 @@ void VWDictionary::clear(bool printWarningsIfNotEmpty)
 	_unusedWords.clear();
 	_flannIndex->release();
 	useDistanceL1_ = false;
-
-	if(!_incrementalDictionary)
-	{
-		// reload the fixed dictionary
-		this->setFixedDictionary(_dictionaryPath);
-	}
 }
 
 int VWDictionary::getNextId()

guilib/src/AboutDialog.cpp

@@ -66,6 +66,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_orboctree->setText("No");
 	_ui->label_orboctree_license->setEnabled(false);
 #endif
+#ifdef RTABMAP_FASTCV
+	_ui->label_fastcv->setText("Yes");
+	_ui->label_fastcv_license->setEnabled(true);
+#else
+	_ui->label_fastcv->setText("No");
+	_ui->label_fastcv_license->setEnabled(false);
+#endif
 #ifdef RTABMAP_OCTOMAP
 	_ui->label_octomap->setText("Yes");
 	_ui->label_octomap_license->setEnabled(true);

guilib/src/PreferencesDialog.cpp

@@ -869,6 +869,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->fastGridCols->setObjectName(Parameters::kFASTGridCols().c_str());
 	_ui->fastGpu->setObjectName(Parameters::kFASTGpu().c_str());
 	_ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str());
+	_ui->fastCV->setObjectName(Parameters::kFASTCV().c_str());
 
 	//ORB detector
 	_ui->doubleSpinBox_ORBScaleFactor->setObjectName(Parameters::kORBScaleFactor().c_str());

guilib/src/ui/aboutDialog.ui

@@ -162,9 +162,9 @@ p, li { white-space: pre-wrap; }
            <property name="geometry">
             <rect>
              <x>0</x>
-             <y>-124</y>
+             <y>0</y>
-             <width>593</width>
+             <width>597</width>
-             <height>652</height>
+             <height>751</height>
             </rect>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -185,6 +185,26 @@ p, li { white-space: pre-wrap; }
             </property>
             <item>
              <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
+              <item row="25" column="2">
+               <widget class="QLabel" name="label_fovis_license">
+                <property name="text">
+                 <string>GPLv2</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_7">
+                <property name="text">
+                 <string>OpenCV version :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
               <item row="2" column="1">
                <widget class="QLabel" name="label_pcl_version">
                 <property name="text">
@@ -198,7 +218,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="10" column="1">
+              <item row="11" column="1">
                <widget class="QLabel" name="label_realsense2">
                 <property name="text">
                  <string/>
@@ -211,7 +231,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="28" column="0">
+              <item row="29" column="0">
                <widget class="QLabel" name="label_35">
                 <property name="text">
                  <string>With OKVIS :</string>
@@ -221,7 +241,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="26" column="1">
+              <item row="27" column="1">
                <widget class="QLabel" name="label_dvo">
                 <property name="text">
                  <string/>
@@ -234,7 +254,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="7" column="1">
+              <item row="8" column="1">
                <widget class="QLabel" name="label_openni2">
                 <property name="text">
                  <string/>
@@ -257,7 +277,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="10" column="2">
+              <item row="11" column="2">
                <widget class="QLabel" name="label_realsense2_license">
                 <property name="text">
                  <string>Apache-2</string>
@@ -267,7 +287,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="28" column="1">
+              <item row="29" column="1">
                <widget class="QLabel" name="label_okvis">
                 <property name="text">
                  <string/>
@@ -280,7 +300,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="30" column="0">
+              <item row="31" column="0">
                <widget class="QLabel" name="label_34">
                 <property name="text">
                  <string>With MSCKF :</string>
@@ -290,7 +310,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="21" column="1">
+              <item row="22" column="1">
                <widget class="QLabel" name="label_octomap">
                 <property name="text">
                  <string/>
@@ -303,7 +323,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="30" column="1">
+              <item row="31" column="1">
                <widget class="QLabel" name="label_msckf">
                 <property name="text">
                  <string/>
@@ -326,7 +346,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="14" column="0">
+              <item row="15" column="0">
                <widget class="QLabel" name="label_38">
                 <property name="text">
                  <string>With K4W2 :</string>
@@ -336,7 +356,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="13" column="1">
+              <item row="14" column="1">
                <widget class="QLabel" name="label_zed">
                 <property name="text">
                  <string/>
@@ -349,7 +369,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="22" column="0">
+              <item row="23" column="0">
                <widget class="QLabel" name="label_24">
                 <property name="text">
                  <string>With CPU-TSDF :</string>
@@ -359,7 +379,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="25" column="0">
+              <item row="12" column="0">
+               <widget class="QLabel" name="label_16">
+                <property name="text">
+                 <string>With stereo dc1394 :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="26" column="0">
                <widget class="QLabel" name="label_26">
                 <property name="text">
                  <string>With Viso2 :</string>
@@ -369,7 +399,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="27" column="0">
+              <item row="28" column="0">
                <widget class="QLabel" name="label_28">
                 <property name="text">
                  <string>With ORB SLAM 2 :</string>
@@ -389,7 +419,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="24" column="0">
+              <item row="25" column="0">
                <widget class="QLabel" name="label_25">
                 <property name="text">
                  <string>With FOVIS :</string>
@@ -399,7 +429,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="13" column="0">
+              <item row="14" column="0">
                <widget class="QLabel" name="label_21">
                 <property name="text">
                  <string>With stereo Zed :</string>
@@ -409,7 +439,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="27" column="1">
+              <item row="28" column="1">
                <widget class="QLabel" name="label_orbslam2">
                 <property name="text">
                  <string/>
@@ -422,7 +452,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="11" column="2">
+              <item row="12" column="2">
                <widget class="QLabel" name="label_dc1394_license">
                 <property name="text">
                  <string>LGPL</string>
@@ -432,27 +462,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="1" column="0">
+              <item row="26" column="2">
-               <widget class="QLabel" name="label_7">
-                <property name="text">
-                 <string>OpenCV version :</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="24" column="2">
-               <widget class="QLabel" name="label_fovis_license">
-                <property name="text">
-                 <string>GPLv2</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="25" column="2">
                <widget class="QLabel" name="label_viso2_license">
                 <property name="text">
                  <string>GPLv3</string>
@@ -462,7 +472,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="12" column="0">
+              <item row="13" column="0">
                <widget class="QLabel" name="label_17">
                 <property name="text">
                  <string>With stereo FlyCapture2 :</string>
@@ -472,7 +482,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="16" column="0">
+              <item row="17" column="0">
                <widget class="QLabel" name="label_77">
                 <property name="text">
                  <string>With TORO :</string>
@@ -482,7 +492,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="24" column="1">
+              <item row="25" column="1">
                <widget class="QLabel" name="label_fovis">
                 <property name="text">
                  <string/>
@@ -495,7 +505,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="21" column="0">
+              <item row="22" column="0">
                <widget class="QLabel" name="label_20">
                 <property name="text">
                  <string>With Octomap :</string>
@@ -505,7 +515,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="12" column="1">
+              <item row="22" column="2">
+               <widget class="QLabel" name="label_octomap_license">
+                <property name="text">
+                 <string>BSD</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="13" column="1">
                <widget class="QLabel" name="label_flycapture2">
                 <property name="text">
                  <string/>
@@ -518,7 +538,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="22" column="1">
+              <item row="9" column="0">
+               <widget class="QLabel" name="label_15">
+                <property name="text">
+                 <string>With Freenect2 :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="23" column="1">
                <widget class="QLabel" name="label_cputsdf">
                 <property name="text">
                  <string/>
@@ -531,26 +561,6 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="21" column="2">
-               <widget class="QLabel" name="label_octomap_license">
-                <property name="text">
-                 <string>BSD</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="8" column="0">
-               <widget class="QLabel" name="label_15">
-                <property name="text">
-                 <string>With Freenect2 :</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
               <item row="2" column="0">
                <widget class="QLabel" name="label_11">
                 <property name="text">
@@ -561,7 +571,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="8" column="2">
+              <item row="9" column="2">
                <widget class="QLabel" name="label_freenect2_license">
                 <property name="text">
                  <string>Apache v2 and/or GPLv2</string>
@@ -571,7 +581,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="9" column="0">
+              <item row="10" column="0">
                <widget class="QLabel" name="label_22">
                 <property name="text">
                  <string>With RealSense :</string>
@@ -581,7 +591,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="19" column="0">
+              <item row="20" column="0">
                <widget class="QLabel" name="label_18">
                 <property name="text">
                  <string>With cvsba :</string>
@@ -591,7 +601,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="19" column="1">
+              <item row="20" column="1">
                <widget class="QLabel" name="label_cvsba">
                 <property name="text">
                  <string/>
@@ -604,7 +614,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="18" column="1">
+              <item row="18" column="0">
+               <widget class="QLabel" name="label_14">
+                <property name="text">
+                 <string>With g2o :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="19" column="1">
                <widget class="QLabel" name="label_gtsam">
                 <property name="text">
                  <string/>
@@ -630,17 +650,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="17" column="0">
+              <item row="7" column="2">
-               <widget class="QLabel" name="label_14">
+               <widget class="QLabel" name="label_freenect_license">
                 <property name="text">
-                 <string>With g2o :</string>
+                 <string>Apache v2 and/or GPLv2</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="11" column="1">
+              <item row="12" column="1">
                <widget class="QLabel" name="label_dc1394">
                 <property name="text">
                  <string/>
@@ -653,27 +673,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="6" column="2">
+              <item row="19" column="0">
-               <widget class="QLabel" name="label_freenect_license">
-                <property name="text">
-                 <string>Apache v2 and/or GPLv2</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="7" column="2">
-               <widget class="QLabel" name="label_openni2_license">
-                <property name="text">
-                 <string>Apache v2</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="18" column="0">
                <widget class="QLabel" name="label_19">
                 <property name="text">
                  <string>With GTSAM :</string>
@@ -683,7 +683,27 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="6" column="1">
+              <item row="8" column="2">
+               <widget class="QLabel" name="label_openni2_license">
+                <property name="text">
+                 <string>Apache v2</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QLabel" name="label_opencv_license">
+                <property name="text">
+                 <string>BSD</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="1">
                <widget class="QLabel" name="label_freenect">
                 <property name="text">
                  <string/>
@@ -706,27 +726,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="1" column="2">
+              <item row="7" column="0">
-               <widget class="QLabel" name="label_opencv_license">
+               <widget class="QLabel" name="label_12">
                 <property name="text">
-                 <string>BSD</string>
+                 <string>With Freenect :</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="11" column="0">
+              <item row="18" column="1">
-               <widget class="QLabel" name="label_16">
-                <property name="text">
-                 <string>With stereo dc1394 :</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="17" column="1">
                <widget class="QLabel" name="label_g2o">
                 <property name="text">
                  <string/>
@@ -739,16 +749,6 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="6" column="0">
-               <widget class="QLabel" name="label_12">
-                <property name="text">
-                 <string>With Freenect :</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
               <item row="3" column="1">
                <widget class="QLabel" name="label_vtk_version">
                 <property name="text">
@@ -762,7 +762,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="8" column="1">
+              <item row="21" column="0">
+               <widget class="QLabel" name="label_29">
+                <property name="text">
+                 <string>With libpointmatcher :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="9" column="1">
                <widget class="QLabel" name="label_freenect2">
                 <property name="text">
                  <string/>
@@ -775,7 +785,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="9" column="1">
+              <item row="10" column="1">
                <widget class="QLabel" name="label_realsense">
                 <property name="text">
                  <string/>
@@ -788,20 +798,30 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="20" column="0">
+              <item row="11" column="0">
-               <widget class="QLabel" name="label_29">
+               <widget class="QLabel" name="label_33">
                 <property name="text">
-                 <string>With libpointmatcher :</string>
+                 <string>With RealSense2 :</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="10" column="0">
+              <item row="31" column="2">
-               <widget class="QLabel" name="label_33">
+               <widget class="QLabel" name="label_msckf_license">
                 <property name="text">
-                 <string>With RealSense2 :</string>
+                 <string>Penn Software License</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="27" column="2">
+               <widget class="QLabel" name="label_dvo_license">
+                <property name="text">
+                 <string>GPLv3</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
@@ -821,40 +841,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="30" column="2">
+              <item row="30" column="0">
-               <widget class="QLabel" name="label_msckf_license">
-                <property name="text">
-                 <string>Penn Software License</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="26" column="2">
-               <widget class="QLabel" name="label_dvo_license">
-                <property name="text">
-                 <string>GPLv3</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="23" column="1">
-               <widget class="QLabel" name="label_openchisel">
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="29" column="0">
                <widget class="QLabel" name="label_36">
                 <property name="text">
                  <string>With loam_velodyne :</string>
@@ -874,17 +861,20 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="18" column="2">
+              <item row="24" column="1">
-               <widget class="QLabel" name="label_gtsam_license">
+               <widget class="QLabel" name="label_openchisel">
                 <property name="text">
-                 <string>BSD</string>
+                 <string/>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="20" column="1">
+              <item row="21" column="1">
                <widget class="QLabel" name="label_libpointmatcher">
                 <property name="text">
                  <string/>
@@ -897,7 +887,17 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="29" column="1">
+              <item row="19" column="2">
+               <widget class="QLabel" name="label_gtsam_license">
+                <property name="text">
+                 <string>BSD</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="30" column="1">
                <widget class="QLabel" name="label_loam">
                 <property name="text">
                  <string/>
@@ -910,7 +910,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="7" column="0">
+              <item row="8" column="0">
                <widget class="QLabel" name="label_13">
                 <property name="text">
                  <string>With OpenNI2 :</string>
@@ -920,6 +920,29 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
+              <item row="27" column="0">
+               <widget class="QLabel" name="label_27">
+                <property name="text">
+                 <string>With DVO :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="26" column="1">
+               <widget class="QLabel" name="label_viso2">
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
               <item row="0" column="0">
                <widget class="QLabel" name="label_32">
                 <property name="text">
@@ -933,30 +956,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="26" column="0">
+              <item row="28" column="2">
-               <widget class="QLabel" name="label_27">
-                <property name="text">
-                 <string>With DVO :</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="25" column="1">
-               <widget class="QLabel" name="label_viso2">
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="27" column="2">
                <widget class="QLabel" name="label_orbslam2_license">
                 <property name="text">
                  <string>GPLv3</string>
@@ -966,7 +966,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="23" column="0">
+              <item row="24" column="0">
                <widget class="QLabel" name="label_30">
                 <property name="text">
                  <string>With OpenChisel :</string>
@@ -976,7 +976,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="16" column="1">
+              <item row="17" column="1">
                <widget class="QLabel" name="label_toro">
                 <property name="text">
                  <string/>
@@ -989,7 +989,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="17" column="2">
+              <item row="18" column="2">
                <widget class="QLabel" name="label_g2o_license">
                 <property name="text">
                  <string>BSD</string>
@@ -999,7 +999,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="28" column="2">
+              <item row="29" column="2">
                <widget class="QLabel" name="label_okvis_license">
                 <property name="text">
                  <string>BSD</string>
@@ -1009,7 +1009,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="29" column="2">
+              <item row="30" column="2">
                <widget class="QLabel" name="label_loam_license">
                 <property name="text">
                  <string>BSD</string>
@@ -1039,7 +1039,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="20" column="2">
+              <item row="21" column="2">
                <widget class="QLabel" name="label_libpointmatcher_license">
                 <property name="text">
                  <string>BSD</string>
@@ -1049,7 +1049,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="22" column="2">
+              <item row="23" column="2">
                <widget class="QLabel" name="label_cputsdf_license">
                 <property name="text">
                  <string>BSD</string>
@@ -1069,7 +1069,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="19" column="2">
+              <item row="20" column="2">
                <widget class="QLabel" name="label_cvsba_license">
                 <property name="text">
                  <string>GPLv2</string>
@@ -1079,7 +1079,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="16" column="2">
+              <item row="17" column="2">
                <widget class="QLabel" name="label_toro_license">
                 <property name="text">
                  <string>Creative Commons [Attribution-NonCommercial-ShareAlike]</string>
@@ -1089,7 +1089,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="9" column="2">
+              <item row="10" column="2">
                <widget class="QLabel" name="label_realsense_license">
                 <property name="text">
                  <string>Apache-2</string>
@@ -1112,7 +1112,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="15" column="0">
+              <item row="16" column="0">
                <widget class="QLabel" name="label_68">
                 <property name="text">
                  <string>With K4A :</string>
@@ -1122,7 +1122,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="14" column="1">
+              <item row="15" column="1">
                <widget class="QLabel" name="label_k4w2">
                 <property name="text">
                  <string/>
@@ -1135,7 +1135,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="15" column="1">
+              <item row="16" column="1">
                <widget class="QLabel" name="label_k4a">
                 <property name="text">
                  <string/>
@@ -1148,7 +1148,7 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
-              <item row="15" column="2">
+              <item row="16" column="2">
                <widget class="QLabel" name="label_g2o_license_3">
                 <property name="text">
                  <string>MIT</string>
@@ -1158,6 +1158,39 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_39">
+                <property name="text">
+                 <string>With FastCV :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QLabel" name="label_fastcv">
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="2">
+               <widget class="QLabel" name="label_fastcv_license">
+                <property name="text">
+                 <string>Apache v2</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
              </layout>
             </item>
            </layout>

guilib/src/ui/preferencesDialog.ui

@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>680</width>
+            <width>681</width>
-            <height>3082</height>
+            <height>3071</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>22</number>
+                <number>29</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -19857,6 +19857,32 @@ Lower the ratio -&gt; higher the precision.</string>
                         </property>
                        </widget>
                       </item>
+                      <item row="3" column="1">
+                       <widget class="QLabel" name="label_561">
+                        <property name="text">
+                         <string>Enable FastCV implementation if non-zero. Values should be 9 and 10 to choose which FastCV approach is used..</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QSpinBox" name="fastCV">
+                        <property name="minimum">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <number>10</number>
+                        </property>
+                        <property name="value">
+                         <number>0</number>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </item>
                     <item>