Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.

guilib/include/rtabmap/gui/CloudViewer.h

@@ -295,6 +295,8 @@ public:
 	void clearTrajectory();
 	bool isCameraAxisShown() const;
 	void setCameraAxisShown(bool shown);
+	double getCoordinateFrameScale() const;
+	void setCoordinateFrameScale(double scale);
 	bool isFrustumShown() const;
 	float getFrustumScale() const;
 	QColor getFrustumColor() const;
@@ -367,8 +369,10 @@ public:
 	void setNormalsStep(int step);
 	void setNormalsScale(float scale);
 	bool isIntensityRedColormap() const;
+	bool isIntensityRainbowColormap() const;
 	float getIntensityMax() const;
 	void setIntensityRedColormap(bool value);
+	void setIntensityRainbowColormap(bool value);
 	void setIntensityMax(float value);
 	void buildPickingLocator(bool enable);
 	const std::map<std::string, vtkSmartPointer<vtkOBBTree> > & getLocators() const {return _locators;}
@@ -412,6 +416,7 @@ private:
     QAction * _aSetTrajectorySize;
     QAction * _aClearTrajectory;
     QAction * _aShowCameraAxis;
+    QAction * _aSetFrameScale;
     QAction * _aShowFrustum;
     QAction * _aSetFrustumScale;
     QAction * _aSetFrustumColor;
@@ -422,6 +427,7 @@ private:
 	QAction * _aSetNormalsStep;
 	QAction * _aSetNormalsScale;
 	QAction * _aSetIntensityRedColormap;
+	QAction * _aSetIntensityRainbowColormap;
 	QAction * _aSetIntensityMaximum;
     QAction * _aSetBackgroundColor;
     QAction * _aSetRenderingRate;
@@ -462,6 +468,7 @@ private:
     double _renderingRate;
     vtkProp * _octomapActor;
     float _intensityAbsMax;
+    double  _coordinateFrameScale;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -267,7 +267,7 @@ public:
 	double getSourceScanVoxelSize() const;
 	int getSourceScanNormalsK() const;
 	double getSourceScanNormalsRadius() const;
-	bool isSourceScanForceGroundNormalsUp() const;
+	double getSourceScanForceGroundNormalsUp() const;
 	Transform getSourceLocalTransform() const;    //Openni group
 	Transform getLaserLocalTransform() const; // directory images
 	Transform getIMULocalTransform() const; // directory images