Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.

corelib/include/rtabmap/core/EpipolarGeometry.h

@@ -75,8 +75,8 @@ public:
 	static cv::Mat findFFromWords(
 			const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
 			std::vector<uchar> & status,
-			double ransacParam1 = 3.0,
-			double ransacParam2 = 0.99);
+			double ransacReprojThreshold = 3.0,
+			double ransacConfidence = 0.99);
 
 	// assume a canonical camera (without K)
 	static void findRTFromP(

corelib/include/rtabmap/core/Memory.h

@@ -302,6 +302,7 @@ private:
 	bool _badSignaturesIgnored;
 	bool _mapLabelsAdded;
 	bool _depthAsMask;
+	bool _stereoFromMotion;
 	int _imagePreDecimation;
 	int _imagePostDecimation;
 	bool _compressionParallelized;

corelib/include/rtabmap/core/Parameters.h

@@ -217,6 +217,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Mem, BadSignaturesIgnored,        bool, false,    "Bad signatures are ignored.");
     RTABMAP_PARAM(Mem, InitWMWithAllNodes,          bool, false,    "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
     RTABMAP_PARAM(Mem, DepthAsMask,                 bool, true,     "Use depth image as mask when extracting features for vocabulary.");
+    RTABMAP_PARAM(Mem, StereoFromMotion,            bool, false,    uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
     RTABMAP_PARAM(Mem, ImagePreDecimation,          int, 1,         "Image decimation (>=1) before features extraction.");
     RTABMAP_PARAM(Mem, ImagePostDecimation,         int, 1,         "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.");
     RTABMAP_PARAM(Mem, CompressionParallelized,     bool, true,     "Compression of sensor data is multi-threaded.");
@@ -378,6 +379,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors,    int, 0,      "Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.");
     RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed,    bool, true,  "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
     RTABMAP_PARAM(RGBD, ProximityAngle,               float, 45,   "Maximum angle (degrees) for visual proximity detection.");
+    RTABMAP_PARAM(RGBD, ProximityOdomGuess,           bool, false, "Use odometry as motion guess for visual proximity detection.");
 
     // Graph optimization
 #ifdef RTABMAP_GTSAM
@@ -577,7 +579,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Vis, PnPRefineIterations,      int, 1,        uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
 #endif
 
-    RTABMAP_PARAM(Vis, EpipolarGeometryVar,      float, 0.02,   uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+    RTABMAP_PARAM(Vis, EpipolarGeometryVar,      float, 0.05,   uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
     RTABMAP_PARAM(Vis, MinInliers,               int, 20,       "Minimum feature correspondences to compute/accept the transformation.");
     RTABMAP_PARAM(Vis, MeanInliersDistance,      float, 0.0,    "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
     RTABMAP_PARAM(Vis, MinInliersDistribution,   float, 0.0,    "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");

corelib/include/rtabmap/core/Rtabmap.h

@@ -263,6 +263,7 @@ private:
 	float _proximityFilteringRadius;
 	bool _proximityRawPosesUsed;
 	float _proximityAngle;
+	bool _proximityOdomGuess;
 	std::string _databasePath;
 	bool _optimizeFromGraphEnd;
 	float _optimizationMaxError;

corelib/include/rtabmap/core/Statistics.h

@@ -54,6 +54,7 @@ class RTABMAP_EXP Statistics
 {
 	RTABMAP_STATS(Loop, RejectedHypothesis,);
 	RTABMAP_STATS(Loop, Accepted_hypothesis_id,);
+	RTABMAP_STATS(Loop, Suppressed_hypothesis_id,);
 	RTABMAP_STATS(Loop, Highest_hypothesis_id,);
 	RTABMAP_STATS(Loop, Highest_hypothesis_value,);
 	RTABMAP_STATS(Loop, Vp_hypothesis,);
@@ -73,13 +74,14 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
 	RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
 	RTABMAP_STATS(Loop, Visual_inliers_distribution,);
-	RTABMAP_STATS(Loop, Map_correction_norm, m);
-	RTABMAP_STATS(Loop, Map_correction_x, m);
-	RTABMAP_STATS(Loop, Map_correction_y, m);
-	RTABMAP_STATS(Loop, Map_correction_z, m);
-	RTABMAP_STATS(Loop, Map_correction_roll, deg);
-	RTABMAP_STATS(Loop, Map_correction_pitch, deg);
-	RTABMAP_STATS(Loop, Map_correction_yaw, deg);
+	RTABMAP_STATS(Loop, Odom_correction_norm, m);
+	RTABMAP_STATS(Loop, Odom_correction_angle, deg);
+	RTABMAP_STATS(Loop, Odom_correction_x, m);
+	RTABMAP_STATS(Loop, Odom_correction_y, m);
+	RTABMAP_STATS(Loop, Odom_correction_z, m);
+	RTABMAP_STATS(Loop, Odom_correction_roll, deg);
+	RTABMAP_STATS(Loop, Odom_correction_pitch, deg);
+	RTABMAP_STATS(Loop, Odom_correction_yaw, deg);
 
 	RTABMAP_STATS(Proximity, Time_detections,);
 	RTABMAP_STATS(Proximity, Space_last_detection_id,);
@@ -159,6 +161,7 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(TimingMem, Markers_detection, ms);
 
 	RTABMAP_STATS(Keypoint, Dictionary_size, words);
+	RTABMAP_STATS(Keypoint, Current_frame, words);
 	RTABMAP_STATS(Keypoint, Indexed_words, words);
 	RTABMAP_STATS(Keypoint, Index_memory_usage, KB);
 

corelib/include/rtabmap/core/odometry/OdometryMono.h

@@ -29,11 +29,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define ODOMETRYMONO_H_
 
 #include <rtabmap/core/Odometry.h>
+#include <rtabmap/core/Link.h>
 
 namespace rtabmap {
 
 class Memory;
-class Stereo;
+class Feature2D;
 
 class RTABMAP_EXP OdometryMono : public Odometry
 {
@@ -41,6 +42,7 @@ public:
 	OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
 	virtual ~OdometryMono();
 	virtual void reset(const Transform & initialPose);
+	virtual Odometry::Type getType() {return kTypeUndef;}
 
 private:
 	virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
@@ -56,7 +58,7 @@ private:
 	int pnpFlags_;
 	int pnpRefineIterations_;
 
-	Stereo * stereo_;
+	Feature2D * feature2D_;
 
 	Memory * memory_;
 	int localHistoryMaxSize_;
@@ -66,12 +68,14 @@ private:
 	float fundMatrixReprojError_;
 	float fundMatrixConfidence_;
 
-	cv::Mat refDepthOrRight_;
-	std::map<int, cv::Point2f> cornersMap_;
+	std::map<int, cv::Point2f> firstFrameGuessCorners_;
 	std::map<int, cv::Point3f> localMap_;
 	std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
 	std::map<int, Transform> keyFramePoses_;
+	std::multimap<int, Link> keyFrameLinks_;
+	std::map<int, CameraModel> keyFrameModels_;
 	float maxVariance_;
+	float keyFrameThr_;
 };
 
 }

corelib/include/rtabmap/core/util3d_features.h

@@ -78,12 +78,8 @@ std::map<int, cv::Point3f> RTABMAP_EXP generateWords3DMono(
 		const std::map<int, cv::KeyPoint> & previousKpts,
 		const CameraModel & cameraModel,
 		Transform & cameraTransform,
-		int pnpIterations = 100,
-		float pnpReprojError = 8.0f,
-		int pnpFlags = 0, // cv::SOLVEPNP_ITERATIVE
-		int pnpRefineIterations = 1,
-		float ransacParam1 = 3.0f,
-		float ransacParam2 = 0.99f,
+		float ransacReprojThreshold = 3.0f,
+		float ransacConfidence = 0.99f,
 		const std::map<int, cv::Point3f> & refGuess3D = std::map<int, cv::Point3f>(),
 		double * variance = 0,
 		std::vector<int> * matchesOut = 0);