rtabmap:

-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view

corelib/include/rtabmap/core/Odometry.h

@@ -60,8 +60,6 @@ public:
 	Transform process(const SensorData & data, OdometryInfo * info = 0);
 	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 
-	bool isLargeEnoughTransform(const Transform & transform);
-
 	//getters
 	const Transform & getPose() const {return _pose;}
 	int getMaxFeatures() const  {return _maxFeatures;}
@@ -70,10 +68,8 @@ public:
 	float getInlierDistance() const {return _inlierDistance;}
 	int getIterations() const {return _iterations;}
 	int getRefineIterations() const {return _refineIterations;}
-	float getFeaturesRatio() const {return _featuresRatio;}
 	float getMaxDepth() const {return _maxDepth;}
-	float geLinearUpdate() const {return _linearUpdate;}
-	float getAngularUpdate() const {return _angularUpdate;}
+	bool isInfoDataFilled() const {return _fillInfoData;}
 
 private:
 	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0) = 0;
@@ -85,12 +81,10 @@ private:
 	float _inlierDistance;
 	int _iterations;
 	int _refineIterations;
-	float _featuresRatio;
 	float _maxDepth;
-	float _linearUpdate;
-	float _angularUpdate;
 	int _resetCountdown;
 	bool _force2D;
+	bool _fillInfoData;
 	Transform _pose;
 	int _resetCurrentCount;
 

corelib/include/rtabmap/core/OdometryInfo.h

@@ -40,7 +40,8 @@ public:
 		variance(-1),
 		features(-1),
 		localMapSize(-1),
-		time(0.0f)
+		time(-1),
+		type(-1)
 	{}
 	bool lost;
 	int matches;
@@ -49,6 +50,18 @@ public:
 	int features;
 	int localMapSize;
 	float time;
+
+	int type; // 0=BOW, 1=Optical Flow, 2=ICP
+
+	// BOW odometry
+	std::multimap<int, cv::KeyPoint> words;
+	std::vector<int> wordMatches;
+	std::vector<int> wordInliers;
+
+	// Optical Flow odometry
+	std::vector<cv::KeyPoint> refCorners;
+	std::vector<cv::KeyPoint> newCorners;
+	std::vector<int> cornerInliers;
 };
 
 }

corelib/include/rtabmap/core/Parameters.h

@@ -296,8 +296,6 @@ class RTABMAP_EXP Parameters
 	// Odometry
 	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Bag-of-words 1=Optical Flow");
 	RTABMAP_PARAM(Odom, FeatureType,            int, 6, 	    "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
-	RTABMAP_PARAM(Odom, LinearUpdate,           float, 0.0, 	"Min linear displacement to update odometry.");
-	RTABMAP_PARAM(Odom, AngularUpdate,          float, 0.0, 	"Min angular displacement to update odometry.");
 	RTABMAP_PARAM(Odom, MaxFeatures,            int, 0, 		"0 no limits.");
 	RTABMAP_PARAM(Odom, InlierDistance,         float, 0.02, 	"Maximum distance for visual word correspondences.");
 	RTABMAP_PARAM(Odom, MinInliers,             int, 20, 		"Minimum visual word correspondences to compute geometry transform.");
@@ -306,8 +304,8 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Odom, MaxDepth,               float, 4.0, 	"Max depth of the words (0 means no limit).");
 	RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,         "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
 	RTABMAP_PARAM_STR(Odom, RoiRatios,          "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
-	RTABMAP_PARAM(Odom, FeaturesRatio,          float, 0.0, 	"Minimum ratio of keypoints between the current image and the last image to compute odometry.");
 	RTABMAP_PARAM(Odom, Force2D, 		        bool, false,     "Force 2D transform (3Dof: x,y and yaw).");
+	RTABMAP_PARAM(Odom, FillInfoData, 		    bool, false,     "Fill info with data (inliers/outliers features).");
 
 	// Odometry Bag-of-words
 	RTABMAP_PARAM(OdomBow, LocalHistorySize,       int, 1000,      "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");

corelib/include/rtabmap/core/RtabmapThread.h

@@ -109,6 +109,8 @@ private:
 
 	Rtabmap * _rtabmap;
 	bool _paused;
+	Transform lastPose_;
+	float _variance;
 };
 
 } /* namespace rtabmap */