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/odometry/OdometryF2M.cpp

@@ -276,7 +276,6 @@ Transform OdometryF2M::computeTransform(
 			std::map<int, Transform> bundlePoses;
 			std::multimap<int, Link> bundleLinks;
 			std::map<int, CameraModel> bundleModels;
-			std::map<int, StereoCameraModel> bundleStereoModels;
 
 			for(int guessIteration=0;
 					guessIteration<(!guess.isNull()&&regPipeline_->isImageRequired()?2:1) && transform.isNull();
@@ -292,7 +291,6 @@ Transform OdometryF2M::computeTransform(
 				bundlePoses.clear();
 				bundleLinks.clear();
 				bundleModels.clear();
-				bundleStereoModels.clear();
 
 				float maxCorrespondenceDistance = 0.0f;
 				float pmOutlierRatio = 0.0f;