MainWindow: Added statistics about how much size the created clouds take in RAM. Avoid caching data on small movements. Export: Fixed meshing checkbox and pipeline combo box not saved/loaded. PreferencesDialog: Added option to disable caching the point clouds. computeNormals(): added viewpoint parameter. mls(): making sure that all returned normals are normalized.

guilib/include/rtabmap/gui/MainWindow.h

@@ -281,12 +281,14 @@ private:
 	int _waypointsIndex;
 
 	QMap<int, Signature> _cachedSignatures;
+	long _cachedMemoryUsage;
 	std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
 	std::map<int, Transform> _currentGTPosesMap; // <nodeId, pose>
 	std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
 	std::map<int, int> _currentMapIds;   // <nodeId, mapId>
 	std::map<int, std::string> _currentLabels; // <nodeId, label>
-	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > _createdClouds;
+	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > _cachedClouds;
+	long _createdCloudsMemoryUsage;
 	std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
 
 	std::map<int, cv::Mat> _createdScans;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -224,6 +224,7 @@ public:
 
 	//
 	bool isImagesKept() const;
+	bool isCloudsKept() const;
 	float getTimeLimit() const;
 	float getDetectionRate() const;
 	bool isSLAMMode() const;

guilib/src/ExportCloudsDialog.cpp

@@ -102,7 +102,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(updateMLSGrpVisibility()));
 	updateMLSGrpVisibility();
 
-	connect(_ui->groupBox_gp3, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
+	connect(_ui->groupBox_meshing, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -138,6 +138,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	{
 		settings.beginGroup(group);
 	}
+	settings.setValue("pipeline", _ui->comboBox_pipeline->currentIndex());
 	settings.setValue("binary", _ui->checkBox_binary->isChecked());
 	settings.setValue("normals_k", _ui->spinBox_normalKSearch->value());
 
@@ -169,7 +170,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value());
 	settings.setValue("mls_dilation_iterations", _ui->spinBox_dilationSteps->value());
 
-	settings.setValue("mesh", _ui->groupBox_gp3->isChecked());
+	settings.setValue("mesh", _ui->groupBox_meshing->isChecked());
 	settings.setValue("mesh_radius", _ui->doubleSpinBox_gp3Radius->value());
 	settings.setValue("mesh_mu", _ui->doubleSpinBox_gp3Mu->value());
 	settings.setValue("mesh_decimation_factor", _ui->doubleSpinBox_meshDecimationFactor->value());
@@ -193,6 +194,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 		settings.beginGroup(group);
 	}
 
+	_ui->comboBox_pipeline->setCurrentIndex(settings.value("pipeline", _ui->comboBox_pipeline->currentIndex()).toInt());
 	_ui->checkBox_binary->setChecked(settings.value("binary", _ui->checkBox_binary->isChecked()).toBool());
 	_ui->spinBox_normalKSearch->setValue(settings.value("normals_k", _ui->spinBox_normalKSearch->value()).toInt());
 
@@ -223,7 +225,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->doubleSpinBox_dilationVoxelSize->setValue(settings.value("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value()).toDouble());
 	_ui->spinBox_dilationSteps->setValue(settings.value("mls_dilation_iterations", _ui->spinBox_dilationSteps->value()).toInt());
 
-	_ui->groupBox_gp3->setChecked(settings.value("mesh", _ui->groupBox_gp3->isChecked()).toBool());
+	_ui->groupBox_meshing->setChecked(settings.value("mesh", _ui->groupBox_meshing->isChecked()).toBool());
 	_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
 	_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
 	_ui->doubleSpinBox_meshDecimationFactor->setValue(settings.value("mesh_decimation_factor",_ui->doubleSpinBox_meshDecimationFactor->value()).toDouble());
@@ -272,7 +274,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->doubleSpinBox_dilationVoxelSize->setValue(0.01);
 	_ui->spinBox_dilationSteps->setValue(0);
 
-	_ui->groupBox_gp3->setChecked(false);
+	_ui->groupBox_meshing->setChecked(false);
 	_ui->doubleSpinBox_gp3Radius->setValue(0.04);
 	_ui->doubleSpinBox_gp3Mu->setValue(2.5);
 	_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
@@ -336,7 +338,7 @@ void ExportCloudsDialog::exportClouds(
 		const std::map<int, Transform> & poses,
 		const std::map<int, int> & mapIds,
 		const QMap<int, Signature> & cachedSignatures,
-		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 		const QString & workingDirectory,
 		const ParametersMap & parameters)
 {
@@ -350,7 +352,7 @@ void ExportCloudsDialog::exportClouds(
 			poses,
 			mapIds,
 			cachedSignatures,
-			createdClouds,
+			cachedClouds,
 			workingDirectory,
 			parameters,
 			clouds,
@@ -388,7 +390,7 @@ void ExportCloudsDialog::viewClouds(
 		const std::map<int, Transform> & poses,
 		const std::map<int, int> & mapIds,
 		const QMap<int, Signature> & cachedSignatures,
-		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 		const QString & workingDirectory,
 		const ParametersMap & parameters)
 {
@@ -402,7 +404,7 @@ void ExportCloudsDialog::viewClouds(
 			poses,
 			mapIds,
 			cachedSignatures,
-			createdClouds,
+			cachedClouds,
 			workingDirectory,
 			parameters,
 			clouds,
@@ -519,7 +521,7 @@ bool ExportCloudsDialog::getExportedClouds(
 		const std::map<int, Transform> & poses,
 		const std::map<int, int> & mapIds,
 		const QMap<int, Signature> & cachedSignatures,
-		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 		const QString & workingDirectory,
 		const ParametersMap & parameters,
 		std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
@@ -555,7 +557,7 @@ bool ExportCloudsDialog::getExportedClouds(
 		std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds = this->getClouds(
 				poses,
 				cachedSignatures,
-				createdClouds,
+				cachedClouds,
 				parameters);
 
 		pcl::PointCloud<pcl::PointXYZ>::Ptr rawAssembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -608,10 +610,30 @@ bool ExportCloudsDialog::getExportedClouds(
 			clouds.insert(std::make_pair(0, std::make_pair(assembledCloud, pcl::IndicesPtr(new std::vector<int>))));
 		}
 
+		std::map<int, Transform> viewPoints = poses;
 		if(_ui->groupBox_mls->isChecked())
 		{
 			_progressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
 					"[search radius=%1m voxel=%2m]").arg(_ui->doubleSpinBox_mlsRadius->value()).arg(_ui->doubleSpinBox_voxelSize_assembled->value()));
+			QApplication::processEvents();
+			QApplication::processEvents();
+
+			// Adjust view points with local transforms
+			for(std::map<int, Transform>::iterator iter= viewPoints.begin(); iter!=viewPoints.end(); ++iter)
+			{
+				if(cachedSignatures.contains(iter->first))
+				{
+					const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
+					if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
+					{
+						iter->second *= data.cameraModels()[0].localTransform();
+					}
+					else if(!data.stereoCameraModel().localTransform().isNull())
+					{
+						iter->second *= data.stereoCameraModel().localTransform();
+					}
+				}
+			}
 		}
 
 		//fill cloudWithNormals
@@ -661,10 +683,11 @@ bool ExportCloudsDialog::getExportedClouds(
 								cloudWithNormals,
 								_ui->doubleSpinBox_voxelSize_assembled->value());
 					}
-
+				
 					_progressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(cloudWithNormals->size()).arg(poses.size()));
+
 					util3d::adjustNormalsToViewPoints(
-							poses,
+							viewPoints,
 							rawAssembledCloud,
 							rawCameraIndices,
 							cloudWithNormals);
@@ -692,6 +715,7 @@ bool ExportCloudsDialog::getExportedClouds(
 			{
 				_progressDialog->appendText(tr("Organized fast mesh... "));
 				QApplication::processEvents();
+				QApplication::processEvents();
 
 				pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 				std::vector<pcl::Vertices> mergedPolygons;
@@ -839,6 +863,7 @@ bool ExportCloudsDialog::getExportedClouds(
 			{
 				_progressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_ui->doubleSpinBox_gp3Radius->value()));
 				QApplication::processEvents();
+				QApplication::processEvents();
 
 				int i=0;
 				for(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>::iterator iter=cloudsWithNormals.begin();
@@ -1018,7 +1043,7 @@ bool ExportCloudsDialog::getExportedClouds(
 std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > ExportCloudsDialog::getClouds(
 		const std::map<int, Transform> & poses,
 		const QMap<int, Signature> & cachedSignatures,
-		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+		const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 		const ParametersMap & parameters) const
 {
 	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds;
@@ -1065,7 +1090,22 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 							}
 						}
 
-						pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value());
+						// view point
+						Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
+						if(d.cameraModels().size() && !d.cameraModels()[0].localTransform().isNull())
+						{
+							viewPoint[0] = d.cameraModels()[0].localTransform().x();
+							viewPoint[1] = d.cameraModels()[0].localTransform().y();
+							viewPoint[2] = d.cameraModels()[0].localTransform().z();
+						}
+						else if(!d.stereoCameraModel().localTransform().isNull())
+						{
+							viewPoint[0] = d.stereoCameraModel().localTransform().x();
+							viewPoint[1] = d.stereoCameraModel().localTransform().y();
+							viewPoint[2] = d.stereoCameraModel().localTransform().z();
+						}
+
+						pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
 						pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
 
 						if(_ui->groupBox_subtraction->isChecked() &&
@@ -1117,15 +1157,15 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 					UERROR("Cloud %d not found in cache!", iter->first);
 				}
 			}
-			else if(uContains(createdClouds, iter->first))
+			else if(uContains(cachedClouds, iter->first))
 			{
 				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
 				if(!_ui->groupBox_meshing->isChecked() &&
 				   _ui->doubleSpinBox_voxelSize_assembled->value() > 0.0)
 				{
 					cloudWithoutNormals = util3d::voxelize(
-							createdClouds.at(iter->first).first,
-							createdClouds.at(iter->first).second,
+							cachedClouds.at(iter->first).first,
+							cachedClouds.at(iter->first).second,
 							_ui->doubleSpinBox_voxelSize_assembled->value());
 
 					//generate indices for all points (they are all valid)
@@ -1137,12 +1177,41 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 				}
 				else
 				{
-					cloudWithoutNormals = createdClouds.at(iter->first).first;
-					indices = createdClouds.at(iter->first).second;
+					cloudWithoutNormals = cachedClouds.at(iter->first).first;
+					indices = cachedClouds.at(iter->first).second;
 				}
-				pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value());
+
+				// view point
+				Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
+				if(cachedSignatures.contains(iter->first))
+				{
+					const Signature & s = cachedSignatures.find(iter->first).value();
+					SensorData d = s.sensorData();
+					if(d.cameraModels().size() && !d.cameraModels()[0].localTransform().isNull())
+					{
+						viewPoint[0] = d.cameraModels()[0].localTransform().x();
+						viewPoint[1] = d.cameraModels()[0].localTransform().y();
+						viewPoint[2] = d.cameraModels()[0].localTransform().z();
+					}
+					else if(!d.stereoCameraModel().localTransform().isNull())
+					{
+						viewPoint[0] = d.stereoCameraModel().localTransform().x();
+						viewPoint[1] = d.stereoCameraModel().localTransform().y();
+						viewPoint[2] = d.stereoCameraModel().localTransform().z();
+					}
+				}
+				else
+				{
+					_progressDialog->appendText(tr("Cached cloud %1 is not found in cached data, the view point for normal computation will not be set (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
+				}
+
+				pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
 				pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
 			}
+			else
+			{
+				_progressDialog->appendText(tr("Cached cloud %1 not found. You may want to regenerate the clouds (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
+			}
 
 			if(indices->size())
 			{
@@ -1165,8 +1234,16 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 
 		if(points>0)
 		{
-			_progressDialog->appendText(tr("Generated cloud %1 with %2 points and %3 indices (%4/%5).")
-					.arg(iter->first).arg(points).arg(totalIndices).arg(++i).arg(poses.size()));
+			if(_ui->groupBox_regenerate->isChecked())
+			{
+				_progressDialog->appendText(tr("Generated cloud %1 with %2 points and %3 indices (%4/%5).")
+						.arg(iter->first).arg(points).arg(totalIndices).arg(++i).arg(poses.size()));
+			}
+			else
+			{
+				_progressDialog->appendText(tr("Copied cloud %1 from cache with %2 points and %3 indices (%4/%5).")
+						.arg(iter->first).arg(points).arg(totalIndices).arg(++i).arg(poses.size()));
+			}
 		}
 		else
 		{

guilib/src/ExportCloudsDialog.h

@@ -63,7 +63,7 @@ public:
 			const std::map<int, Transform> & poses,
 			const std::map<int, int> & mapIds,
 			const QMap<int, Signature> & cachedSignatures,
-			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 			const QString & workingDirectory,
 			const ParametersMap & parameters);
 
@@ -71,7 +71,7 @@ public:
 			const std::map<int, Transform> & poses,
 			const std::map<int, int> & mapIds,
 			const QMap<int, Signature> & cachedSignatures,
-			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 			const QString & workingDirectory,
 			const ParametersMap & parameters);
 
@@ -89,13 +89,13 @@ private:
 	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
 			const std::map<int, Transform> & poses,
 			const QMap<int, Signature> & cachedSignatures,
-			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 			const ParametersMap & parameters) const;
 	bool getExportedClouds(
 				const std::map<int, Transform> & poses,
 				const std::map<int, int> & mapIds,
 				const QMap<int, Signature> & cachedSignatures,
-				const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
+				const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
 				const QString & workingDirectory,
 				const ParametersMap & parameters,
 				std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,

guilib/src/MainWindow.cpp

@@ -145,6 +145,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_odomImageDepthShow(false),
 	_savedMaximized(false),
 	_waypointsIndex(0),
+	_cachedMemoryUsage(0),
+	_createdCloudsMemoryUsage(0),
 	_odometryCorrection(Transform::getIdentity()),
 	_processingOdometry(false),
 	_oneSecondTimer(0),
@@ -552,6 +554,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", 0.0f);
 	_ui->statsToolBox->updateStat("GUI/RGB-D closure_view/ms", 0.0f);
 	_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", 0.0f);
+	_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", 0.0f);
+	_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", 0.0f);
 
 	this->loadFigures();
 	connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified()));
@@ -1307,13 +1311,26 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		UDEBUG("");
 		bool highestHypothesisIsSaved = (bool)uValue(stat.data(), Statistics::kLoopHypothesis_reactivated(), 0.0f);
 
+		bool smallMovement = (bool)uValue(stat.data(), Statistics::kMemorySmall_movement(), 0.0f);
+
 		// update cache
 		Signature signature;
 		if(uContains(stat.getSignatures(), stat.refImageId()))
 		{
 			signature = stat.getSignatures().at(stat.refImageId());
 			signature.sensorData().uncompressData(); // make sure data are uncompressed
-			_cachedSignatures.insert(signature.id(), signature);
+
+			if(!smallMovement)
+			{
+				// keep in cache only compressed data
+				Signature signatureWithoutRawData = signature;
+				signatureWithoutRawData.sensorData().setImageRaw(cv::Mat());
+				signatureWithoutRawData.sensorData().setDepthOrRightRaw(cv::Mat());
+				signatureWithoutRawData.sensorData().setUserDataRaw(cv::Mat());
+				signatureWithoutRawData.sensorData().setLaserScanRaw(cv::Mat(), 0, 0);
+				_cachedSignatures.insert(signature.id(), signatureWithoutRawData);
+				_cachedMemoryUsage += signatureWithoutRawData.sensorData().getMemoryUsed();
+			}
 		}
 
 		// For intermediate empty nodes, keep latest image shown
@@ -1332,7 +1349,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
 		int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
 		bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);
-		bool smallMovement = (bool)uValue(stat.data(), Statistics::kMemorySmall_movement(), 0.0f);
 		_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
 
 		if(rehearsalMerged > 0)
@@ -1437,8 +1453,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
 				if(iter != _cachedSignatures.end())
 				{
-					iter.value().sensorData().uncompressData();
+					// uncompress after copy to avoid keeping uncompressed data in memory
 					loopSignature = iter.value();
+					loopSignature.sensorData().uncompressData();
 				}
 			}
 		}
@@ -1764,7 +1781,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 	if(!_preferencesDialog->isImagesKept())
 	{
 		_cachedSignatures.clear();
+		_cachedMemoryUsage = 0;
 	}
+	_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", stat.refImageId(), _cachedMemoryUsage/(1024*1024));
+	_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", stat.refImageId(), _createdCloudsMemoryUsage/(1024*1024));
+
 	if(_state != kMonitoring && _state != kDetecting)
 	{
 		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
@@ -1889,13 +1910,13 @@ void MainWindow::updateMapCloud(
 					_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
 					_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
 				}
-				else if(_createdClouds.find(iter->first) == _createdClouds.end() && _cachedSignatures.contains(iter->first))
+				else if(_cachedClouds.find(iter->first) == _cachedClouds.end() && _cachedSignatures.contains(iter->first))
 				{
 					if((_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
 					    _projectionLocalMaps.find(iter->first) == _projectionLocalMaps.end())
 					{
 						this->createAndAddCloudToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
-						if(_createdClouds.find(iter->first) != _createdClouds.end())
+						if(viewerClouds.contains(cloudName))
 						{
 							_cloudViewer->setCloudVisibility(cloudName.c_str(), _cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0));
 						}
@@ -1992,8 +2013,8 @@ void MainWindow::updateMapCloud(
 	// activate actions
 	if(_state != kMonitoring && _state != kDetecting)
 	{
-		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
-		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
 		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
 		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
 		_ui->actionView_scans->setEnabled(!_createdScans.empty());
@@ -2223,11 +2244,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 		return;
 	}
 
-	if(_createdClouds.find(nodeId) != _createdClouds.end())
-	{
-		UDEBUG("Cloud %d already created.");
-		return;
-	}
+	UASSERT(_cachedClouds.find(nodeId) == _cachedClouds.end());
 
 	if((!iter->sensorData().imageCompressed().empty() || !iter->sensorData().imageRaw().empty()) &&
 	   (!iter->sensorData().depthOrRightCompressed().empty() || !iter->sensorData().depthOrRightRaw().empty()))
@@ -2259,6 +2276,21 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 				indices.get(),
 				_preferencesDialog->getAllParameters());
 
+		// view point
+		Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
+		if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
+		{
+			viewPoint[0] = data.cameraModels()[0].localTransform().x();
+			viewPoint[1] = data.cameraModels()[0].localTransform().y();
+			viewPoint[2] = data.cameraModels()[0].localTransform().z();
+		}
+		else if(!data.stereoCameraModel().localTransform().isNull())
+		{
+			viewPoint[0] = data.stereoCameraModel().localTransform().x();
+			viewPoint[1] = data.stereoCameraModel().localTransform().y();
+			viewPoint[2] = data.stereoCameraModel().localTransform().z();
+		}
+
 		// filtering pipeline
 		if(indices->size() && _preferencesDialog->getMapVoxel() > 0.0)
 		{
@@ -2353,7 +2385,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 						//normals required
 						if(_preferencesDialog->getNormalKSearch() > 0)
 						{
-							pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch());
+							pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
 							pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
 						}
 						else
@@ -2411,25 +2443,12 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 					pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
 					// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
 					output = util3d::extractIndices(cloud, indices, false, true);
-					Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
-					if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
-					{
-						viewpoint[0] = data.cameraModels()[0].localTransform().x();
-						viewpoint[1] = data.cameraModels()[0].localTransform().y();
-						viewpoint[2] = data.cameraModels()[0].localTransform().z();
-					}
-					else if(!data.stereoCameraModel().localTransform().isNull())
-					{
-						viewpoint[0] = data.stereoCameraModel().localTransform().x();
-						viewpoint[1] = data.stereoCameraModel().localTransform().y();
-						viewpoint[2] = data.stereoCameraModel().localTransform().z();
-					}
 					std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
 							output,
 							_preferencesDialog->getCloudMeshingAngle(),
 							_preferencesDialog->isCloudMeshingQuad(),
 							_preferencesDialog->getCloudMeshingTriangleSize(),
-							viewpoint);
+							viewPoint);
 					if(polygons.size())
 					{
 						// remove unused vertices to save memory
@@ -2440,9 +2459,10 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 						{
 							UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
 						}
-						else
+						else if(_preferencesDialog->isCloudsKept())
 						{
-							_createdClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
+							_cachedClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
+							_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
 						}
 					}
 				}
@@ -2457,7 +2477,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 
 					if(_preferencesDialog->getNormalKSearch() > 0 && cloudWithNormals->size() == 0)
 					{
-						pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch());
+						pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
 						pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
 					}
 
@@ -2479,9 +2499,10 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 						{
 							UERROR("Adding cloud %d to viewer failed!", nodeId);
 						}
-						else
+						else if(_preferencesDialog->isCloudsKept())
 						{
-							_createdClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
+							_cachedClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
+							_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
 						}
 					}
 					else
@@ -2491,9 +2512,10 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 						{
 							UERROR("Adding cloud %d to viewer failed!", nodeId);
 						}
-						else
+						else if(_preferencesDialog->isCloudsKept())
 						{
-							_createdClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
+							_cachedClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
+							_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
 						}
 					}
 				}
@@ -2965,6 +2987,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 			   (_cachedSignatures.value(iter->first).sensorData().imageCompressed().empty() && !iter->second.sensorData().imageCompressed().empty()))
 			{
 				_cachedSignatures.insert(iter->first, iter->second);
+				_cachedMemoryUsage += iter->second.sensorData().getMemoryUsed();
 				++addedSignatures;
 			}
 			_initProgressDialog->incrementStep();
@@ -2997,6 +3020,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 		if(!_preferencesDialog->isImagesKept())
 		{
 			_cachedSignatures.clear();
+			_cachedMemoryUsage = 0;
 		}
 		if(_state != kMonitoring && _state != kDetecting)
 		{
@@ -4842,7 +4866,9 @@ void MainWindow::anchorCloudsToGroundTruth()
 void MainWindow::clearTheCache()
 {
 	_cachedSignatures.clear();
-	_createdClouds.clear();
+	_cachedMemoryUsage = 0;
+	_cachedClouds.clear();
+	_createdCloudsMemoryUsage = 0;
 	_previousCloud.first = 0;
 	_previousCloud.second.first.first.reset();
 	_previousCloud.second.first.second.reset();
@@ -5250,7 +5276,7 @@ void MainWindow::exportClouds()
 			_ui->widget_mapVisibility->getVisiblePoses(),
 			_currentMapIds,
 			_cachedSignatures,
-			_createdClouds,
+			_cachedClouds,
 			_preferencesDialog->getWorkingDirectory(),
 			_preferencesDialog->getAllParameters());
 }
@@ -5266,7 +5292,7 @@ void MainWindow::viewClouds()
 			_currentPosesMap,
 			_currentMapIds,
 			_cachedSignatures,
-			_createdClouds,
+			_cachedClouds,
 			_preferencesDialog->getWorkingDirectory(),
 			_preferencesDialog->getAllParameters());
 
@@ -5713,8 +5739,8 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionGenerate_map->setEnabled(false);
 		_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
-		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
-		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
 		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
 		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
 		_ui->actionView_scans->setEnabled(!_createdScans.empty());
@@ -5769,8 +5795,8 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionGenerate_map->setEnabled(true);
 		_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
-		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
-		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
 		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
 		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
 		_ui->actionView_scans->setEnabled(!_createdScans.empty());
@@ -5895,8 +5921,8 @@ void MainWindow::changeState(MainWindow::State newState)
 			_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 			_ui->actionGenerate_map->setEnabled(true);
 			_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
-			_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
-			_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+			_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
+			_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
 			_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
 			_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
 			_ui->actionView_scans->setEnabled(!_createdScans.empty());
@@ -5959,8 +5985,8 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
 		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
-		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
-		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
 		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
 		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
 		_ui->actionView_scans->setEnabled(!_createdScans.empty());

guilib/src/PreferencesDialog.cpp

@@ -270,6 +270,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 
 	// General panel
 	connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
+	connect(_ui->general_checkBox_cloudsKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->checkBox_verticalLayoutUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -1150,6 +1151,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 	if(groupBox->objectName() == _ui->groupBox_generalSettingsGui0->objectName())
 	{
 		_ui->general_checkBox_imagesKept->setChecked(true);
+		_ui->general_checkBox_cloudsKept->setChecked(true);
 		_ui->checkBox_beep->setChecked(false);
 		_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(false);
 		_ui->checkBox_verticalLayoutUsed->setChecked(true);
@@ -1448,7 +1450,9 @@ void PreferencesDialog::loadConfigFrom()
 	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), this->getWorkingDirectory(), "*.ini");
 	if(!path.isEmpty())
 	{
+		_ui->checkBox_useOdomFeatures->blockSignals(true);
 		this->readSettings(path);
+		_ui->checkBox_useOdomFeatures->blockSignals(false);
 	}
 }
 
@@ -1501,6 +1505,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 	settings.beginGroup("Gui");
 	settings.beginGroup("General");
 	_ui->general_checkBox_imagesKept->setChecked(settings.value("imagesKept", _ui->general_checkBox_imagesKept->isChecked()).toBool());
+	_ui->general_checkBox_cloudsKept->setChecked(settings.value("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked()).toBool());
 	_ui->comboBox_loggerLevel->setCurrentIndex(settings.value("loggerLevel", _ui->comboBox_loggerLevel->currentIndex()).toInt());
 	_ui->comboBox_loggerEventLevel->setCurrentIndex(settings.value("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex()).toInt());
 	_ui->comboBox_loggerPauseLevel->setCurrentIndex(settings.value("loggerPauseLevel", _ui->comboBox_loggerPauseLevel->currentIndex()).toInt());
@@ -1904,6 +1909,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 	settings.beginGroup("General");
 	settings.remove("");
 	settings.setValue("imagesKept",           _ui->general_checkBox_imagesKept->isChecked());
+	settings.setValue("cloudsKept",           _ui->general_checkBox_cloudsKept->isChecked());
 	settings.setValue("loggerLevel",          _ui->comboBox_loggerLevel->currentIndex());
 	settings.setValue("loggerEventLevel",     _ui->comboBox_loggerEventLevel->currentIndex());
 	settings.setValue("loggerPauseLevel",     _ui->comboBox_loggerPauseLevel->currentIndex());
@@ -3440,8 +3446,8 @@ void PreferencesDialog::useOdomFeatures()
 	if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())
 	{
 		int r = QMessageBox::question(this, tr("Using odometry features for vocabulary..."),
-				tr("Do you want to match feature parameters "
-				   "below with corresponding ones used for odometry?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
+				tr("Do you want to match vocabulary feature parameters "
+				   "with corresponding ones used for odometry?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
 
 		if(r == QMessageBox::Yes)
 		{
@@ -4270,6 +4276,10 @@ bool PreferencesDialog::isImagesKept() const
 {
 	return _ui->general_checkBox_imagesKept->isChecked();
 }
+bool PreferencesDialog::isCloudsKept() const
+{
+	return _ui->general_checkBox_cloudsKept->isChecked();
+}
 float PreferencesDialog::getTimeLimit() const
 {
 	return _ui->general_doubleSpinBox_timeThr->value();

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-847</y>
+            <y>0</y>
             <width>686</width>
             <height>2023</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>1</number>
+                <number>0</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -121,14 +121,14 @@
                         </property>
                        </widget>
                       </item>
-                      <item row="1" column="0">
+                      <item row="2" column="0">
                        <widget class="QCheckBox" name="checkBox_beep">
                         <property name="text">
                          <string/>
                         </property>
                        </widget>
                       </item>
-                      <item row="1" column="1">
+                      <item row="2" column="1">
                        <widget class="QLabel" name="label_88">
                         <property name="text">
                          <string>Beep! on special events (finished processing the data set, an error has occured, ...).</string>
@@ -141,7 +141,7 @@
                         </property>
                        </widget>
                       </item>
-                      <item row="2" column="1">
+                      <item row="3" column="1">
                        <widget class="QLabel" name="label_102">
                         <property name="text">
                          <string>Notify when a new global path is received.</string>
@@ -154,7 +154,7 @@
                         </property>
                        </widget>
                       </item>
-                      <item row="2" column="0">
+                      <item row="3" column="0">
                        <widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
                         <property name="text">
                          <string/>
@@ -164,6 +164,29 @@
                         </property>
                        </widget>
                       </item>
+                      <item row="1" column="1">
+                       <widget class="QLabel" name="label_313">
+                        <property name="text">
+                         <string>Insert created clouds in the GUI cache to avoid regenerating clouds on export.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QCheckBox" name="general_checkBox_cloudsKept">
+                        <property name="text">
+                         <string/>
+                        </property>
+                        <property name="checked">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </item>
                     <item>