Added RGBD/ScanMatchingIdsSavedInLinks parameter

corelib/include/rtabmap/core/Parameters.h

@@ -201,7 +201,6 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Mem, LaserScanVoxelSize,      float, 0.0,      "If > 0.0, voxelize laser scans when creating a signature.");
 	RTABMAP_PARAM(Mem, LocalSpaceLinksKeptInWM, bool, true,      "If local space links are kept in WM.");
 
-
 	// KeypointMemory (Keypoint-based)
 	RTABMAP_PARAM_COND(Kp, NNStrategy,       int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
 	RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, 		"");
@@ -300,6 +299,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(RGBD, MaxLocalRetrieved,        unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
 	RTABMAP_PARAM(RGBD, LocalRadius,              float, 10,   "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
 	RTABMAP_PARAM(RGBD, LocalImmunizationRatio,   float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
+	RTABMAP_PARAM(RGBD,  ScanMatchingIdsSavedInLinks, bool, true,      "Save scan matching IDs in link's user data.");
 
 	// Local loop closure detection
 	RTABMAP_PARAM(RGBD, LocalLoopDetectionTime,     bool, false, 	"Detection over all locations in STM.");

corelib/include/rtabmap/core/Rtabmap.h

@@ -188,6 +188,7 @@ private:
 	bool _poseScanMatching;
 	bool _localLoopClosureDetectionTime;
 	bool _localLoopClosureDetectionSpace;
+	bool _scanMatchingIdsSavedInLinks;
 	float _localRadius;
 	float _localImmunizationRatio;
 	int _localDetectMaxGraphDepth;

corelib/src/Rtabmap.cpp

@@ -94,6 +94,7 @@ Rtabmap::Rtabmap() :
 	_poseScanMatching(Parameters::defaultRGBDPoseScanMatching()),
 	_localLoopClosureDetectionTime(Parameters::defaultRGBDLocalLoopDetectionTime()),
 	_localLoopClosureDetectionSpace(Parameters::defaultRGBDLocalLoopDetectionSpace()),
+	_scanMatchingIdsSavedInLinks(Parameters::defaultRGBDScanMatchingIdsSavedInLinks()),
 	_localRadius(Parameters::defaultRGBDLocalRadius()),
 	_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
 	_localDetectMaxGraphDepth(Parameters::defaultRGBDLocalLoopDetectionMaxGraphDepth()),
@@ -402,6 +403,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kRGBDPoseScanMatching(), _poseScanMatching);
 	Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionTime(), _localLoopClosureDetectionTime);
 	Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionSpace(), _localLoopClosureDetectionSpace);
+	Parameters::parse(parameters, Parameters::kRGBDScanMatchingIdsSavedInLinks(), _scanMatchingIdsSavedInLinks);
 	Parameters::parse(parameters, Parameters::kRGBDLocalRadius(), _localRadius);
 	Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
 	Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxGraphDepth(), _localDetectMaxGraphDepth);
@@ -2068,8 +2070,7 @@ bool Rtabmap::process(
 													transform.prettyPrint().c_str());
 
 											cv::Mat scanMatchingIds;
-											bool _scanMatchingIdsSavedInUserData = true;
+											if(_scanMatchingIdsSavedInLinks)
-											if(_scanMatchingIdsSavedInUserData)
 											{
 												std::stringstream stream;
 												stream << "SCANS:";

guilib/src/PreferencesDialog.cpp

@@ -467,6 +467,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
 	_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
 	_ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str());
+	_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
 	_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
 	_ui->general_doubleSpinBox_laserScanVoxel->setObjectName(Parameters::kMemLaserScanVoxelSize().c_str());
 

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-374</y>
+            <y>-1003</y>
             <width>760</width>
-            <height>1678</height>
+            <height>1705</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>19</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6957,6 +6957,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
+                         <item row="4" column="1">
+                          <widget class="QLabel" name="label_scanMatching_6">
+                           <property name="text">
+                            <string>Save scan matching IDs in link's user data.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="4" column="0">
+                          <widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
+                           <property name="text">
+                            <string/>
+                           </property>
+                          </widget>
+                         </item>
                         </layout>
                        </item>
                       </layout>