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/src/CMakeLists.txt

@@ -117,6 +117,8 @@ SET(SRC_FILES
     clams/slam_calibrator.cpp
     
     opencv/ORBextractor.cc
+    opencv/solvepnp.cpp
+    opencv/five-point.cpp
 )
 
 IF(OpenCV_VERSION_MAJOR EQUAL 2)
@@ -125,10 +127,6 @@ SET(SRC_FILES
     opencv/Orb.cpp
 )
 ENDIF(OpenCV_VERSION_MAJOR EQUAL 2)
-SET(SRC_FILES
-    ${SRC_FILES}
-    opencv/solvepnp.cpp
-)
 
 # to get includes in visual studio
 IF(MSVC)