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/RegistrationVis.cpp

@@ -290,6 +290,8 @@ Transform RegistrationVis::computeTransformationImpl(
 	UDEBUG("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
 	UDEBUG("%s=%f", Parameters::kVisCorNNDR().c_str(), _nndr);
 	UDEBUG("%s=%d", Parameters::kVisCorNNType().c_str(), _nnType);
+	UDEBUG("%s=%d", Parameters::kVisCorGuessWinSize().c_str(), _guessWinSize);
+	UDEBUG("%s=%d", Parameters::kVisCorGuessMatchToProjection().c_str(), _guessMatchToProjection?1:0);
 	UDEBUG("Feature Detector = %d", (int)_detectorFrom->getType());
 	UDEBUG("guess=%s", guess.prettyPrint().c_str());
 
@@ -777,7 +779,8 @@ Transform RegistrationVis::computeTransformationImpl(
 				// If guess is set, limit the search of matches using optical flow window size
 				bool guessSet = !guess.isIdentity() && !guess.isNull();
 				if(guessSet && _guessWinSize > 0 && kptsFrom3D.size() &&
-						isCalibrated) // needed for projection
+						isCalibrated &&  // needed for projection
+						_estimationType != 2) // To make sure we match all features for 2D->2D
 				{
 					UDEBUG("");
 					UASSERT((int)kptsTo.size() == descriptorsTo.rows);
@@ -1374,10 +1377,6 @@ Transform RegistrationVis::computeTransformationImpl(
 							uMultimapToMapUnique(signatureB->getWords()),
 							cameraModel,
 							cameraTransform,
-							_iterations,
-							_PnPReprojError,
-							_PnPFlags, // cv::SOLVEPNP_ITERATIVE
-							_PnPRefineIterations,
 							_PnPReprojError,
 							0.99f,
 							uMultimapToMapUnique(signatureA->getWords3()), // for scale estimation