Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Features2d.h

@@ -74,6 +74,8 @@ public:
 	std::vector<cv::KeyPoint> generateKeypoints(const cv::Mat & image, int maxKeypoints=0, const cv::Rect & roi = cv::Rect()) const;
 	cv::Mat generateDescriptors(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
+	virtual void parseParameters(const ParametersMap & parameters) {}
+
 protected:
 	Feature2D(const ParametersMap & parameters = ParametersMap()) {}
 
@@ -89,11 +91,21 @@ public:
 	SURF(const ParametersMap & parameters = ParametersMap());
 	virtual ~SURF();
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
+	double hessianThreshold_;
+	int nOctaves_;
+	int nOctaveLayers_;
+	bool extended_;
+	bool upright_;
+	float gpuKeypointsRatio_;
+	bool gpuVersion_;
+
 	cv::SURF * _surf;
 	cv::gpu::SURF_GPU * _gpuSurf;
 };
@@ -105,11 +117,19 @@ public:
 	SIFT(const ParametersMap & parameters = ParametersMap());
 	virtual ~SIFT();
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
+	int nfeatures_;
+	int nOctaveLayers_;
+	double contrastThreshold_;
+	double edgeThreshold_;
+	double sigma_;
+
 	cv::SIFT * _sift;
 };
 
@@ -120,11 +140,26 @@ public:
 	ORB(const ParametersMap & parameters = ParametersMap());
 	virtual ~ORB();
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
+	int nFeatures_;
+	float scaleFactor_;
+	int nLevels_;
+	int edgeThreshold_;
+	int firstLevel_;
+	int WTA_K_;
+	int scoreType_;
+	int patchSize_;
+	bool gpu_;
+
+	int fastThreshold_;
+	bool nonmaxSuppresion_;
+
 	cv::ORB * _orb;
 	cv::gpu::ORB_GPU * _gpuOrb;
 };
@@ -136,10 +171,17 @@ public:
 	FAST(const ParametersMap & parameters = ParametersMap());
 	virtual ~FAST();
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
 
 private:
+	int threshold_;
+	bool nonmaxSuppression_;
+	bool gpu_;
+	double gpuKeypointsRatio_;
+
 	cv::FastFeatureDetector * _fast;
 	cv::gpu::FAST_GPU * _gpuFast;
 };
@@ -151,10 +193,14 @@ public:
 	FAST_BRIEF(const ParametersMap & parameters = ParametersMap());
 	virtual ~FAST_BRIEF();
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 private:
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
+	int bytes_;
+
 	cv::BriefDescriptorExtractor * _brief;
 };
 
@@ -165,10 +211,17 @@ public:
 	FAST_FREAK(const ParametersMap & parameters = ParametersMap());
 	virtual ~FAST_FREAK();
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 private:
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
+	bool orientationNormalized_;
+	bool scaleNormalized_;
+	float patternScale_;
+	int nOctaves_;
+
 	cv::FREAK * _freak;
 };
 

corelib/include/rtabmap/core/Link.h

@@ -15,7 +15,13 @@ namespace rtabmap {
 class Link
 {
 public:
-	enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure};
+	enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure, kUserClosure, kUndef};
+	Link() :
+		from_(0),
+		to_(0),
+		type_(kUndef)
+	{
+	}
 	Link(int from, int to, const Transform & transform, Type type) :
 		from_(from),
 		to_(to),
@@ -24,6 +30,8 @@ public:
 	{
 	}
 
+	bool isValid() const {return from_ > 0 && to_ > 0 && !transform_.isNull() && type_!=kUndef;}
+
 	int from() const {return from_;}
 	int to() const {return to_;}
 	const Transform & transform() const {return transform_;}

corelib/include/rtabmap/core/util3d.h

@@ -390,6 +390,11 @@ std::map<int, Transform> RTABMAP_EXP radiusPosesFiltering(
 		float angle,
 		bool keepLatest = true);
 
+std::multimap<int, int> RTABMAP_EXP radiusPosesClustering(
+		const std::map<int, Transform> & poses,
+		float radius,
+		float angle);
+
 cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
 		const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
 		float cellSize,

corelib/src/Features2d.cpp

@@ -246,38 +246,17 @@ cv::Mat Feature2D::generateDescriptors(const cv::Mat & image, std::vector<cv::Ke
 //SURF
 //////////////////////////
 SURF::SURF(const ParametersMap & parameters) :
+		hessianThreshold_(Parameters::defaultSURFHessianThreshold()),
+		nOctaves_(Parameters::defaultSURFOctaves()),
+		nOctaveLayers_(Parameters::defaultSURFOctaveLayers()),
+		extended_(Parameters::defaultSURFExtended()),
+		upright_(Parameters::defaultSURFUpright()),
+		gpuKeypointsRatio_(Parameters::defaultSURFGpuKeypointsRatio()),
+		gpuVersion_(Parameters::defaultSURFGpuVersion()),
 		_surf(0),
 		_gpuSurf(0)
 {
-	double hessianThreshold = Parameters::defaultSURFHessianThreshold();
+	parseParameters(parameters);
-	int nOctaves = Parameters::defaultSURFOctaves();
-	int nOctaveLayers = Parameters::defaultSURFOctaveLayers();
-	bool extended = Parameters::defaultSURFExtended();
-	bool upright = Parameters::defaultSURFUpright();
-	float gpuKeypointsRatio = Parameters::defaultSURFGpuKeypointsRatio();
-	bool gpuVersion = Parameters::defaultSURFGpuVersion();
-
-	Parameters::parse(parameters, Parameters::kSURFExtended(), extended);
-	Parameters::parse(parameters, Parameters::kSURFHessianThreshold(), hessianThreshold);
-	Parameters::parse(parameters, Parameters::kSURFOctaveLayers(), nOctaveLayers);
-	Parameters::parse(parameters, Parameters::kSURFOctaves(), nOctaves);
-	Parameters::parse(parameters, Parameters::kSURFUpright(), upright);
-	Parameters::parse(parameters, Parameters::kSURFGpuKeypointsRatio(), gpuKeypointsRatio);
-	Parameters::parse(parameters, Parameters::kSURFGpuVersion(), gpuVersion);
-
-	if(gpuVersion && cv::gpu::getCudaEnabledDeviceCount())
-	{
-		_gpuSurf = new cv::gpu::SURF_GPU(hessianThreshold, nOctaves, nOctaveLayers, extended, gpuKeypointsRatio, upright);
-	}
-	else
-	{
-		if(gpuVersion)
-		{
-			UWARN("GPU version of SURF not available! Using CPU version instead...");
-		}
-
-		_surf = new cv::SURF (hessianThreshold, nOctaves, nOctaveLayers, extended, upright);
-	}
 }
 
 SURF::~SURF()
@@ -292,6 +271,42 @@ SURF::~SURF()
 	}
 }
 
+void SURF::parseParameters(const ParametersMap & parameters)
+{
+	Parameters::parse(parameters, Parameters::kSURFExtended(), extended_);
+	Parameters::parse(parameters, Parameters::kSURFHessianThreshold(), hessianThreshold_);
+	Parameters::parse(parameters, Parameters::kSURFOctaveLayers(), nOctaveLayers_);
+	Parameters::parse(parameters, Parameters::kSURFOctaves(), nOctaves_);
+	Parameters::parse(parameters, Parameters::kSURFUpright(), upright_);
+	Parameters::parse(parameters, Parameters::kSURFGpuKeypointsRatio(), gpuKeypointsRatio_);
+	Parameters::parse(parameters, Parameters::kSURFGpuVersion(), gpuVersion_);
+
+	if(_gpuSurf)
+	{
+		delete _gpuSurf;
+		_gpuSurf = 0;
+	}
+	if(_surf)
+	{
+		delete _surf;
+		_surf = 0;
+	}
+
+	if(gpuVersion_ && cv::gpu::getCudaEnabledDeviceCount())
+	{
+		_gpuSurf = new cv::gpu::SURF_GPU(hessianThreshold_, nOctaves_, nOctaveLayers_, extended_, gpuKeypointsRatio_, upright_);
+	}
+	else
+	{
+		if(gpuVersion_)
+		{
+			UWARN("GPU version of SURF not available! Using CPU version instead...");
+		}
+
+		_surf = new cv::SURF(hessianThreshold_, nOctaves_, nOctaveLayers_, extended_, upright_);
+	}
+}
+
 std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
@@ -342,21 +357,14 @@ cv::Mat SURF::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
 //SIFT
 //////////////////////////
 SIFT::SIFT(const ParametersMap & parameters) :
+	nfeatures_(Parameters::defaultSIFTNFeatures()),
+	nOctaveLayers_(Parameters::defaultSIFTNOctaveLayers()),
+	contrastThreshold_(Parameters::defaultSIFTContrastThreshold()),
+	edgeThreshold_(Parameters::defaultSIFTEdgeThreshold()),
+	sigma_(Parameters::defaultSIFTSigma()),
 	_sift(0)
 {
-	int nfeatures = Parameters::defaultSIFTNFeatures();
+	parseParameters(parameters);
-	int nOctaveLayers = Parameters::defaultSIFTNOctaveLayers();
-	double contrastThreshold = Parameters::defaultSIFTContrastThreshold();
-	double edgeThreshold = Parameters::defaultSIFTEdgeThreshold();
-	double sigma = Parameters::defaultSIFTSigma();
-
-	Parameters::parse(parameters, Parameters::kSIFTContrastThreshold(), contrastThreshold);
-	Parameters::parse(parameters, Parameters::kSIFTEdgeThreshold(), edgeThreshold);
-	Parameters::parse(parameters, Parameters::kSIFTNFeatures(), nfeatures);
-	Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers);
-	Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma);
-
-	_sift = new cv::SIFT(nfeatures, nOctaveLayers, contrastThreshold, edgeThreshold, sigma);
 }
 
 SIFT::~SIFT()
@@ -367,6 +375,23 @@ SIFT::~SIFT()
 	}
 }
 
+void SIFT::parseParameters(const ParametersMap & parameters)
+{
+	Parameters::parse(parameters, Parameters::kSIFTContrastThreshold(), contrastThreshold_);
+	Parameters::parse(parameters, Parameters::kSIFTEdgeThreshold(), edgeThreshold_);
+	Parameters::parse(parameters, Parameters::kSIFTNFeatures(), nfeatures_);
+	Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_);
+	Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
+
+	if(_sift)
+	{
+		delete _sift;
+		_sift = 0;
+	}
+
+	_sift = new cv::SIFT(nfeatures_, nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_);
+}
+
 std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
@@ -388,48 +413,21 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
 //ORB
 //////////////////////////
 ORB::ORB(const ParametersMap & parameters) :
+		nFeatures_(Parameters::defaultORBNFeatures()),
+		scaleFactor_(Parameters::defaultORBScaleFactor()),
+		nLevels_(Parameters::defaultORBNLevels()),
+		edgeThreshold_(Parameters::defaultORBEdgeThreshold()),
+		firstLevel_(Parameters::defaultORBFirstLevel()),
+		WTA_K_(Parameters::defaultORBWTA_K()),
+		scoreType_(Parameters::defaultORBScoreType()),
+		patchSize_(Parameters::defaultORBPatchSize()),
+		gpu_(Parameters::defaultORBGpu()),
+		fastThreshold_(Parameters::defaultFASTThreshold()),
+		nonmaxSuppresion_(Parameters::defaultFASTNonmaxSuppression()),
 		_orb(0),
 		_gpuOrb(0)
 {
-	int nFeatures = Parameters::defaultORBNFeatures();
+	parseParameters(parameters);
-	float scaleFactor = Parameters::defaultORBScaleFactor();
-	int nLevels = Parameters::defaultORBNLevels();
-	int edgeThreshold = Parameters::defaultORBEdgeThreshold();
-	int firstLevel = Parameters::defaultORBFirstLevel();
-	int WTA_K = Parameters::defaultORBWTA_K();
-	int scoreType = Parameters::defaultORBScoreType();
-	int patchSize = Parameters::defaultORBPatchSize();
-	bool gpu = Parameters::defaultORBGpu();
-
-	int fastThreshold = Parameters::defaultFASTThreshold();
-	bool nonmaxSuppresion = Parameters::defaultFASTNonmaxSuppression();
-
-	Parameters::parse(parameters, Parameters::kORBNFeatures(), nFeatures);
-	Parameters::parse(parameters, Parameters::kORBScaleFactor(), scaleFactor);
-	Parameters::parse(parameters, Parameters::kORBNLevels(), nLevels);
-	Parameters::parse(parameters, Parameters::kORBEdgeThreshold(), edgeThreshold);
-	Parameters::parse(parameters, Parameters::kORBFirstLevel(), firstLevel);
-	Parameters::parse(parameters, Parameters::kORBWTA_K(), WTA_K);
-	Parameters::parse(parameters, Parameters::kORBScoreType(), scoreType);
-	Parameters::parse(parameters, Parameters::kORBPatchSize(), patchSize);
-	Parameters::parse(parameters, Parameters::kORBGpu(), gpu);
-
-	Parameters::parse(parameters, Parameters::kFASTThreshold(), fastThreshold);
-	Parameters::parse(parameters, Parameters::kFASTNonmaxSuppression(), nonmaxSuppresion);
-
-	if(gpu && cv::gpu::getCudaEnabledDeviceCount())
-	{
-		_gpuOrb = new cv::gpu::ORB_GPU(nFeatures, scaleFactor, nLevels, edgeThreshold, firstLevel, WTA_K, scoreType, patchSize);
-		_gpuOrb->setFastParams(fastThreshold, nonmaxSuppresion);
-	}
-	else
-	{
-		if(gpu)
-		{
-			UWARN("GPU version of ORB not available! Using CPU version instead...");
-		}
-		_orb = new cv::ORB(nFeatures, scaleFactor, nLevels, edgeThreshold, firstLevel, WTA_K, scoreType, patchSize);
-	}
 }
 
 ORB::~ORB()
@@ -444,6 +442,47 @@ ORB::~ORB()
 	}
 }
 
+void ORB::parseParameters(const ParametersMap & parameters)
+{
+	Parameters::parse(parameters, Parameters::kORBNFeatures(), nFeatures_);
+	Parameters::parse(parameters, Parameters::kORBScaleFactor(), scaleFactor_);
+	Parameters::parse(parameters, Parameters::kORBNLevels(), nLevels_);
+	Parameters::parse(parameters, Parameters::kORBEdgeThreshold(), edgeThreshold_);
+	Parameters::parse(parameters, Parameters::kORBFirstLevel(), firstLevel_);
+	Parameters::parse(parameters, Parameters::kORBWTA_K(), WTA_K_);
+	Parameters::parse(parameters, Parameters::kORBScoreType(), scoreType_);
+	Parameters::parse(parameters, Parameters::kORBPatchSize(), patchSize_);
+	Parameters::parse(parameters, Parameters::kORBGpu(), gpu_);
+
+	Parameters::parse(parameters, Parameters::kFASTThreshold(), fastThreshold_);
+	Parameters::parse(parameters, Parameters::kFASTNonmaxSuppression(), nonmaxSuppresion_);
+
+	if(_gpuOrb)
+	{
+		delete _gpuOrb;
+		_gpuOrb = 0;
+	}
+	if(_orb)
+	{
+		delete _orb;
+		_orb = 0;
+	}
+
+	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount())
+	{
+		_gpuOrb = new cv::gpu::ORB_GPU(nFeatures_, scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_);
+		_gpuOrb->setFastParams(fastThreshold_, nonmaxSuppresion_);
+	}
+	else
+	{
+		if(gpu_)
+		{
+			UWARN("GPU version of ORB not available! Using CPU version instead...");
+		}
+		_orb = new cv::ORB(nFeatures_, scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_);
+	}
+}
+
 std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
@@ -499,31 +538,14 @@ cv::Mat ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyP
 //FAST
 //////////////////////////
 FAST::FAST(const ParametersMap & parameters) :
+		threshold_(Parameters::defaultFASTThreshold()),
+		nonmaxSuppression_(Parameters::defaultFASTNonmaxSuppression()),
+		gpu_(Parameters::defaultFASTGpu()),
+		gpuKeypointsRatio_(Parameters::defaultFASTGpuKeypointsRatio()),
 		_fast(0),
 		_gpuFast(0)
 {
-	int threshold = Parameters::defaultFASTThreshold();
+	parseParameters(parameters);
-	bool nonmaxSuppression = Parameters::defaultFASTNonmaxSuppression();
-	bool gpu = Parameters::defaultFASTGpu();
-	double gpuKeypointsRatio = Parameters::defaultFASTGpuKeypointsRatio();
-
-	Parameters::parse(parameters, Parameters::kFASTThreshold(), threshold);
-	Parameters::parse(parameters, Parameters::kFASTNonmaxSuppression(), nonmaxSuppression);
-	Parameters::parse(parameters, Parameters::kFASTGpu(), gpu);
-	Parameters::parse(parameters, Parameters::kFASTGpuKeypointsRatio(), gpuKeypointsRatio);
-
-	if(gpu && cv::gpu::getCudaEnabledDeviceCount())
-	{
-		_gpuFast = new cv::gpu::FAST_GPU(threshold, nonmaxSuppression, gpuKeypointsRatio);
-	}
-	else
-	{
-		if(gpu)
-		{
-			UWARN("GPU version of FAST not available! Using CPU version instead...");
-		}
-		_fast = new cv::FastFeatureDetector(threshold, nonmaxSuppression);
-	}
 }
 
 FAST::~FAST()
@@ -538,6 +560,38 @@ FAST::~FAST()
 	}
 }
 
+void FAST::parseParameters(const ParametersMap & parameters)
+{
+	Parameters::parse(parameters, Parameters::kFASTThreshold(), threshold_);
+	Parameters::parse(parameters, Parameters::kFASTNonmaxSuppression(), nonmaxSuppression_);
+	Parameters::parse(parameters, Parameters::kFASTGpu(), gpu_);
+	Parameters::parse(parameters, Parameters::kFASTGpuKeypointsRatio(), gpuKeypointsRatio_);
+
+	if(_gpuFast)
+	{
+		delete _gpuFast;
+		_gpuFast = 0;
+	}
+	if(_fast)
+	{
+		delete _fast;
+		_fast = 0;
+	}
+
+	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount())
+	{
+		_gpuFast = new cv::gpu::FAST_GPU(threshold_, nonmaxSuppression_, gpuKeypointsRatio_);
+	}
+	else
+	{
+		if(gpu_)
+		{
+			UWARN("GPU version of FAST not available! Using CPU version instead...");
+		}
+		_fast = new cv::FastFeatureDetector(threshold_, nonmaxSuppression_);
+	}
+}
+
 std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
@@ -560,11 +614,10 @@ std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, con
 //////////////////////////
 FAST_BRIEF::FAST_BRIEF(const ParametersMap & parameters) :
 	FAST(parameters),
+	bytes_(Parameters::defaultBRIEFBytes()),
 	_brief(0)
 {
-	int bytes = Parameters::defaultBRIEFBytes();
+	parseParameters(parameters);
-	Parameters::parse(parameters, Parameters::kBRIEFBytes(), bytes);
-	_brief = new cv::BriefDescriptorExtractor(bytes);
 }
 
 FAST_BRIEF::~FAST_BRIEF()
@@ -575,6 +628,19 @@ FAST_BRIEF::~FAST_BRIEF()
 	}
 }
 
+void FAST_BRIEF::parseParameters(const ParametersMap & parameters)
+{
+	FAST::parseParameters(parameters);
+
+	Parameters::parse(parameters, Parameters::kBRIEFBytes(), bytes_);
+	if(_brief)
+	{
+		delete _brief;
+		_brief = 0;
+	}
+	_brief = new cv::BriefDescriptorExtractor(bytes_);
+}
+
 cv::Mat FAST_BRIEF::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
@@ -588,19 +654,13 @@ cv::Mat FAST_BRIEF::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
 //////////////////////////
 FAST_FREAK::FAST_FREAK(const ParametersMap & parameters) :
 	FAST(parameters),
+	orientationNormalized_(Parameters::defaultFREAKOrientationNormalized()),
+	scaleNormalized_(Parameters::defaultFREAKScaleNormalized()),
+	patternScale_(Parameters::defaultFREAKPatternScale()),
+	nOctaves_(Parameters::defaultFREAKNOctaves()),
 	_freak(0)
 {
-	bool orientationNormalized = Parameters::defaultFREAKOrientationNormalized();
+	parseParameters(parameters);
-	bool scaleNormalized = Parameters::defaultFREAKScaleNormalized();
-	float patternScale = Parameters::defaultFREAKPatternScale();
-	int nOctaves = Parameters::defaultFREAKNOctaves();
-
-	Parameters::parse(parameters, Parameters::kFREAKOrientationNormalized(), orientationNormalized);
-	Parameters::parse(parameters, Parameters::kFREAKScaleNormalized(), scaleNormalized);
-	Parameters::parse(parameters, Parameters::kFREAKPatternScale(), patternScale);
-	Parameters::parse(parameters, Parameters::kFREAKNOctaves(), nOctaves);
-
-	_freak = new cv::FREAK(orientationNormalized, scaleNormalized, patternScale, nOctaves);
 }
 
 FAST_FREAK::~FAST_FREAK()
@@ -611,6 +671,24 @@ FAST_FREAK::~FAST_FREAK()
 	}
 }
 
+void FAST_FREAK::parseParameters(const ParametersMap & parameters)
+{
+	FAST::parseParameters(parameters);
+
+	Parameters::parse(parameters, Parameters::kFREAKOrientationNormalized(), orientationNormalized_);
+	Parameters::parse(parameters, Parameters::kFREAKScaleNormalized(), scaleNormalized_);
+	Parameters::parse(parameters, Parameters::kFREAKPatternScale(), patternScale_);
+	Parameters::parse(parameters, Parameters::kFREAKNOctaves(), nOctaves_);
+
+	if(_freak)
+	{
+		delete _freak;
+		_freak = 0;
+	}
+
+	_freak = new cv::FREAK(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_);
+}
+
 cv::Mat FAST_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
 {
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);

corelib/src/Memory.cpp

@@ -63,8 +63,8 @@ Memory::Memory(const ParametersMap & parameters) :
 	_memoryChanged(false),
 	_signaturesAdded(0),
 
-	_feature2D(0),
+	_feature2D(new SURF(parameters)),
-	_featureType(Feature2D::kFeatureUndef),
+	_featureType(Feature2D::kFeatureSurf),
 	_badSignRatio(Parameters::defaultKpBadSignRatio()),
 	_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
 	_parallelized(Parameters::defaultKpParallelized()),
@@ -364,6 +364,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	}
 
 	//Keypoint detector
+	UASSERT(_feature2D != 0);
 	Feature2D::Type detectorStrategy = Feature2D::kFeatureUndef;
 	if((iter=parameters.find(Parameters::kKpDetectorStrategy())) != parameters.end())
 	{
@@ -403,6 +404,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
 			break;
 		}
 	}
+	else if(_feature2D)
+	{
+		_feature2D->parseParameters(parameters);
+	}
 }
 
 void Memory::preUpdate()
@@ -1626,6 +1631,10 @@ Transform Memory::computeVisualTransform(int oldId, int newId) const
 	{
 		return computeVisualTransform(*oldS, *newS);
 	}
+	else
+	{
+		UWARN("Did not find nodes %d and/or %d", oldId, newId);
+	}
 	return Transform();
 }
 
@@ -2845,6 +2854,10 @@ void Memory::extractKeypointsAndDescriptors(
 			filterKeypointsByDepth(keypoints, depth, fx, fy, cx, cy, _wordsMaxDepth);
 			limitKeypoints(keypoints, _wordsPerImageTarget);
 		}
+		else
+		{
+			UWARN("feature2D not set!");
+		}
 
 		if(keypoints.size())
 		{

corelib/src/util3d.cpp

@@ -1173,7 +1173,7 @@ Transform transformFromXYZCorrespondences(
 		if(correspondencesInliers.size() == correspondences->size() && transform.isIdentity())
 		{
 			//Wrong transform
-			UDEBUG("Wrong transform: identity");
+			UINFO("Wrong transform: identity");
 			transform.setNull();
 			if(inliers)
 			{
@@ -1927,6 +1927,54 @@ std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & p
 	}
 }
 
+std::multimap<int, int> radiusPosesClustering(const std::map<int, Transform> & poses, float radius, float angle)
+{
+	std::multimap<int, int> clusters;
+	if(poses.size() > 1 && radius > 0.0f && angle>0.0f)
+	{
+		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+		cloud->resize(poses.size());
+		int i=0;
+		for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
+		{
+			(*cloud)[i++] = pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z());
+		}
+
+		// radius clustering (nearest neighbors)
+		std::vector<int> ids = uKeys(poses);
+		std::vector<Transform> transforms = uValues(poses);
+
+		pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> (false));
+		tree->setInputCloud(cloud);
+
+		for(unsigned int i=0; i<cloud->size(); ++i)
+		{
+			std::vector<int> kIndices;
+			std::vector<float> kDistances;
+			tree->radiusSearch(cloud->at(i), radius, kIndices, kDistances);
+
+			std::set<int> cloudIndices;
+			const Transform & currentT = transforms.at(i);
+			Eigen::Vector3f vA = util3d::transformToEigen3f(currentT).rotation()*Eigen::Vector3f(1,0,0);
+			for(unsigned int j=0; j<kIndices.size(); ++j)
+			{
+				if(i != kIndices[j])
+				{
+					const Transform & checkT = transforms.at(kIndices[j]);
+					// same orientation?
+					Eigen::Vector3f vB = util3d::transformToEigen3f(checkT).rotation()*Eigen::Vector3f(1,0,0);
+					double a = pcl::getAngle3D(Eigen::Vector4f(vA[0], vA[1], vA[2], 0), Eigen::Vector4f(vB[0], vB[1], vB[2], 0));
+					if(a <= angle)
+					{
+						clusters.insert(std::make_pair(ids[i], ids[kIndices[j]]));
+					}
+				}
+			}
+		}
+	}
+	return clusters;
+}
+
 /**
  * Create 2d Occupancy grid (CV_8S)
  * -1 = unknown

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -44,7 +44,6 @@ namespace rtabmap
 {
 class Memory;
 class ImageView;
-}
 
 class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
 {
@@ -55,6 +54,9 @@ public:
 	virtual ~DatabaseViewer();
 	bool openDatabase(const QString & path);
 
+protected:
+	virtual void resizeEvent(QResizeEvent* anEvent);
+
 private slots:
 	void openDatabase();
 	void generateGraph();
@@ -64,6 +66,9 @@ private slots:
 	void generateTOROGraph();
 	void view3DMap();
 	void generate3DMap();
+	void detectMoreLoopClosures();
+	void refineAllNeighborLinks();
+	void refineAllLoopClosureLinks();
 	void sliderAValueChanged(int);
 	void sliderBValueChanged(int);
 	void sliderAMoved(int);
@@ -72,6 +77,10 @@ private slots:
 	void sliderLoopValueChanged(int);
 	void sliderIterationsValueChanged(int);
 	void updateGraphView();
+	void refineConstraint();
+	void addConstraint();
+	void resetConstraint();
+	void rejectConstraint();
 
 private:
 	void updateIds();
@@ -81,7 +90,29 @@ private:
 				QLabel * labelChildren,
 				rtabmap::ImageView * view,
 				QLabel * labelId);
+	void updateWordsMatching();
 	void updateConstraintView(const rtabmap::Link & link);
+	void updateConstraintButtons();
+	std::multimap<int, Link>::iterator findLink(
+				std::multimap<int, Link> & links,
+				int from,
+				int to);
+	Link findActiveLink(int from, int to);
+	bool containsLink(
+			std::multimap<int, Link> & links,
+			int from,
+			int to);
+	std::multimap<int, rtabmap::Link> updateLinksWithModifications(
+			const std::multimap<int, rtabmap::Link> & edgeConstraints);
+	void updateLoopClosuresSlider(int from = 0, int to = 0);
+	void refineConstraint(int from, int to);
+	bool addConstraint(int from, int to, bool silent);
+	std::map<int, int> generateGraph(int fromNode, int margin);
+	std::map<int, Transform> optimizeGraph(
+			const std::map<int, int> & ids,
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & links,
+			std::list<std::map<int, rtabmap::Transform> > * graphes = 0);
 
 private:
 	Ui_DatabaseViewer * ui_;
@@ -94,7 +125,12 @@ private:
 	std::list<std::map<int, rtabmap::Transform> > graphes_;
 	std::map<int, rtabmap::Transform> poses_;
 	std::multimap<int, rtabmap::Link> links_;
+	std::multimap<int, rtabmap::Link> linksRefined_;
+	std::multimap<int, rtabmap::Link> linksAdded_;
+	std::multimap<int, rtabmap::Link> linksRemoved_;
 	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > scans_;
 };
 
+}
+
 #endif /* DATABASEVIEWER_H_ */

guilib/include/rtabmap/gui/ImageView.h

@@ -24,6 +24,7 @@
 
 #include <QtGui/QGraphicsView>
 #include <QtCore/QRectF>
+#include <QtCore/QMultiMap>
 #include <opencv2/features2d/features2d.hpp>
 #include <map>
 
@@ -57,7 +58,12 @@ public:
 	void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords);
 	void setImage(const QImage & image);
 	void setImageDepth(const QImage & image);
+	void setFeatureColor(int id, const QColor & color);
+	void setFeaturesColor(const QColor & color);
 
+	const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
+
+	void clearLines();
 	void clear();
 
 protected:
@@ -82,7 +88,7 @@ private:
 	QAction * _showLines;
 	QAction * _saveImage;
 
-	QList<rtabmap::KeypointItem *> _features;
+	QMultiMap<int, rtabmap::KeypointItem *> _features;
 	QGraphicsPixmapItem * _image;
 	QGraphicsPixmapItem * _imageDepth;
 };

guilib/src/ImageView.cpp

@@ -87,9 +87,9 @@ bool ImageView::isFeaturesShown()
 void ImageView::setFeaturesShown(bool shown)
 {
 	_showFeatures->setChecked(shown);
-	for(int i=0; i<_features.size(); ++i)
+	for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
 	{
-		_features[i]->setVisible(_showFeatures->isChecked());
+		iter.value()->setVisible(_showFeatures->isChecked());
 	}
 }
 
@@ -236,11 +236,7 @@ void ImageView::wheelEvent(QWheelEvent * e)
 
 void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
 {
-	for(int i=0; i<_features.size(); ++i)
+	qDeleteAll(_features);
-	{
-		scene()->removeItem(_features[i]);
-		delete _features[i];
-	}
 	_features.clear();
 
 	rtabmap::KeypointItem * item = 0;
@@ -261,7 +257,7 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
 		item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
 
 		scene()->addItem(item);
-		_features.append(item);
+		_features.insert(id, item);
 		item->setVisible(_showFeatures->isChecked());
 		item->setZValue(1);
 	}
@@ -297,13 +293,51 @@ void ImageView::setImageDepth(const QImage & imageDepth)
 	}
 }
 
+void ImageView::setFeatureColor(int id, const QColor & color)
+{
+	QList<KeypointItem*> items = _features.values(id);
+	if(items.size())
+	{
+		for(int i=0; i<items.size(); ++i)
+		{
+			items[i]->setPen(QPen(color));
+			items[i]->setBrush(QBrush(color));
+		}
+	}
+	else
+	{
+		UWARN("Not found feature %d", id);
+	}
+}
+
+void ImageView::setFeaturesColor(const QColor & color)
+{
+	for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
+	{
+		iter.value()->setPen(QPen(color));
+		iter.value()->setBrush(QBrush(color));
+	}
+}
+
+void ImageView::clearLines()
+{
+	if(this->scene())
+	{
+		QList<QGraphicsItem*> items = this->scene()->items();
+		for(int i=0; i<items.size(); ++i)
+		{
+			QGraphicsLineItem * line = qgraphicsitem_cast<QGraphicsLineItem*>(items[i]);
+			if(line)
+			{
+				delete line;
+			}
+		}
+	}
+}
+
 void ImageView::clear()
 {
-	for(int i=0; i<_features.size(); ++i)
+	qDeleteAll(_features);
-	{
-		scene()->removeItem(_features[i]);
-		delete _features[i];
-	}
 	_features.clear();
 
 	if(_image)

guilib/src/ui/DatabaseViewer.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1076</width>
-    <height>637</height>
+    <height>582</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -260,7 +260,7 @@
      <x>0</x>
      <y>0</y>
      <width>1076</width>
-     <height>22</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -282,6 +282,10 @@
     <addaction name="actionGenerate_local_graph_dot"/>
     <addaction name="actionGenerate_TORO_graph_graph"/>
     <addaction name="separator"/>
+    <addaction name="actionDetect_more_loop_closures"/>
+    <addaction name="actionRefine_all_neighbor_links"/>
+    <addaction name="actionRefine_all_loop_closure_links"/>
+    <addaction name="separator"/>
     <addaction name="actionClean_database"/>
     <addaction name="actionClean_local_graph"/>
     <addaction name="separator"/>
@@ -309,13 +313,6 @@
      <item>
       <widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
      </item>
-     <item>
-      <widget class="QLabel" name="label_constraint">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
      <item>
       <layout class="QFormLayout" name="formLayout">
        <property name="fieldGrowthPolicy">
@@ -355,6 +352,79 @@
          </property>
         </widget>
        </item>
+       <item row="2" column="1">
+        <widget class="QLabel" name="label_constraint">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_16">
+         <property name="text">
+          <string>Transform</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QLabel" name="label_18">
+         <property name="text">
+          <string>Fitness</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QLabel" name="label_fitness">
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_5">
+       <item>
+        <widget class="QPushButton" name="pushButton_refine">
+         <property name="text">
+          <string>Refine (ICP)</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="pushButton_reset">
+         <property name="text">
+          <string>Reset</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="pushButton_add">
+         <property name="text">
+          <string>Add</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="pushButton_reject">
+         <property name="text">
+          <string>Reject</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
       </layout>
      </item>
     </layout>
@@ -464,6 +534,371 @@
     </layout>
    </widget>
   </widget>
+  <widget class="QDockWidget" name="dockWidget_icp">
+   <property name="windowTitle">
+    <string>ICP parameters</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>2</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_3">
+    <layout class="QVBoxLayout" name="verticalLayout_11">
+     <item>
+      <layout class="QGridLayout" name="gridLayout_4" columnminimumwidth="1,0">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_14">
+         <property name="text">
+          <string>Decimation</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QSpinBox" name="spinBox_icp_decimation">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="maximum">
+          <number>8</number>
+         </property>
+         <property name="value">
+          <number>4</number>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLabel" name="label_17">
+         <property name="text">
+          <string>Max depth</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth">
+         <property name="suffix">
+          <string> m</string>
+         </property>
+         <property name="decimals">
+          <number>2</number>
+         </property>
+         <property name="maximum">
+          <double>100.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>2.000000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_13">
+         <property name="text">
+          <string>Voxel</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_voxel">
+         <property name="suffix">
+          <string> m</string>
+         </property>
+         <property name="decimals">
+          <number>3</number>
+         </property>
+         <property name="maximum">
+          <double>1.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>0.005000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QLabel" name="label_12">
+         <property name="text">
+          <string>Max correspondence distance</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxCorrespDistance">
+         <property name="suffix">
+          <string> m</string>
+         </property>
+         <property name="decimals">
+          <number>3</number>
+         </property>
+         <property name="minimum">
+          <double>0.001000000000000</double>
+         </property>
+         <property name="maximum">
+          <double>1.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>0.050000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0">
+        <widget class="QLabel" name="label_15">
+         <property name="text">
+          <string>Iteration</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QSpinBox" name="spinBox_icp_iteration">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="maximum">
+          <number>1000</number>
+         </property>
+         <property name="value">
+          <number>30</number>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="0">
+        <widget class="QLabel" name="label_11">
+         <property name="text">
+          <string>Point to plane</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="1">
+        <widget class="QCheckBox" name="checkBox_icp_p2plane">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="0">
+        <widget class="QLabel" name="label_20">
+         <property name="text">
+          <string>Normal K neighbors</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QSpinBox" name="spinBox_icp_normalKSearch">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="maximum">
+          <number>1000</number>
+         </property>
+         <property name="value">
+          <number>20</number>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>31</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="QDockWidget" name="dockWidget_visual">
+   <property name="windowTitle">
+    <string>Visual parameters</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>1</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_4">
+    <layout class="QVBoxLayout" name="verticalLayout_10">
+     <item>
+      <layout class="QGridLayout" name="gridLayout_3" columnminimumwidth="1,0">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_24">
+         <property name="text">
+          <string>Recompute features (SURF)</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QCheckBox" name="checkBox_visual_recomputeFeatures">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLabel" name="label_25">
+         <property name="text">
+          <string>SURF hessian threshold</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_hessian">
+         <property name="suffix">
+          <string/>
+         </property>
+         <property name="decimals">
+          <number>0</number>
+         </property>
+         <property name="minimum">
+          <double>10.000000000000000</double>
+         </property>
+         <property name="maximum">
+          <double>100000.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>150.000000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_26">
+         <property name="text">
+          <string>NNDR</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
+         <property name="suffix">
+          <string> m</string>
+         </property>
+         <property name="decimals">
+          <number>1</number>
+         </property>
+         <property name="minimum">
+          <double>0.100000000000000</double>
+         </property>
+         <property name="maximum">
+          <double>1.000000000000000</double>
+         </property>
+         <property name="singleStep">
+          <double>0.100000000000000</double>
+         </property>
+         <property name="value">
+          <double>0.800000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QLabel" name="label_21">
+         <property name="text">
+          <string>Min correspondences</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QSpinBox" name="spinBox_visual_minCorrespondences">
+         <property name="minimum">
+          <number>3</number>
+         </property>
+         <property name="maximum">
+          <number>1000</number>
+         </property>
+         <property name="value">
+          <number>3</number>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0">
+        <widget class="QLabel" name="label_22">
+         <property name="text">
+          <string>Max correspondence distance</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxCorrespDistance">
+         <property name="suffix">
+          <string> m</string>
+         </property>
+         <property name="decimals">
+          <number>3</number>
+         </property>
+         <property name="minimum">
+          <double>0.001000000000000</double>
+         </property>
+         <property name="maximum">
+          <double>1.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>0.010000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="0">
+        <widget class="QLabel" name="label_23">
+         <property name="text">
+          <string>Iteration</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="1">
+        <widget class="QSpinBox" name="spinBox_visual_iteration">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="maximum">
+          <number>1000</number>
+         </property>
+         <property name="value">
+          <number>30</number>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="0">
+        <widget class="QLabel" name="label_19">
+         <property name="text">
+          <string>Max feature depth</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
+         <property name="suffix">
+          <string> m</string>
+         </property>
+         <property name="decimals">
+          <number>2</number>
+         </property>
+         <property name="maximum">
+          <double>100.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>4.000000000000000</double>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <spacer name="verticalSpacer">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>40</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </widget>
+  </widget>
   <action name="actionOpen_database">
    <property name="text">
     <string>Open database</string>
@@ -529,6 +964,21 @@
     <string>Generate TORO graph (*.graph)...</string>
    </property>
   </action>
+  <action name="actionRefine_all_neighbor_links">
+   <property name="text">
+    <string>Refine all neighbor links...</string>
+   </property>
+  </action>
+  <action name="actionRefine_all_loop_closure_links">
+   <property name="text">
+    <string>Refine all loop closure links...</string>
+   </property>
+  </action>
+  <action name="actionDetect_more_loop_closures">
+   <property name="text">
+    <string>Detect more loop closures...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>

tools/DatabaseViewer/main.cpp

@@ -27,7 +27,7 @@ int main(int argc, char * argv[])
 	ULogger::setLevel(ULogger::kInfo);
 
 	QApplication * app = new QApplication(argc, argv);
-	DatabaseViewer * mainWindow = new DatabaseViewer();
+	rtabmap::DatabaseViewer * mainWindow = new rtabmap::DatabaseViewer();
 
 	mainWindow->showNormal();
 

tools/VocabularyComparison/main.cpp

@@ -77,7 +77,7 @@ int main(int argc, char * argv[])
 			{
 				std::getline(file, str);
 				strList = uSplit(str);
-				if(strList.size() == dimension+1)
+				if((int)strList.size() == dimension+1)
 				{
 					//first one is the visual word id
 					std::list<std::string>::iterator iter = strList.begin();