0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset

guilib/include/rtabmap/gui/AboutDialog.h

@@ -0,0 +1,55 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_ABOUTDIALOG_H_
+#define RTABMAP_ABOUTDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QtCore/QUrl>
+
+class Ui_aboutDialog;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP AboutDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	AboutDialog(QWidget * parent = 0);
+
+	virtual ~AboutDialog();
+
+private:
+	Ui_aboutDialog * _ui;
+};
+
+}
+
+#endif /* ABOUTDIALOG_H_ */

guilib/include/rtabmap/gui/CalibrationDialog.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef CALIBRATIONDIALOG_H_
-#define CALIBRATIONDIALOG_H_
+#ifndef RTABMAP_CALIBRATIONDIALOG_H_
+#define RTABMAP_CALIBRATIONDIALOG_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/CameraViewer.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef CAMERAVIEWER_H_
-#define CAMERAVIEWER_H_
+#ifndef RTABMAP_CAMERAVIEWER_H_
+#define RTABMAP_CAMERAVIEWER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/CloudViewer.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef CLOUDVIEWER_H_
-#define CLOUDVIEWER_H_
+#ifndef RTABMAP_CLOUDVIEWER_H_
+#define RTABMAP_CLOUDVIEWER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/ConsoleWidget.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef CONSOLEWIDGET_H_
-#define CONSOLEWIDGET_H_
+#ifndef RTABMAP_CONSOLEWIDGET_H_
+#define RTABMAP_CONSOLEWIDGET_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/CreateSimpleCalibrationDialog.h

@@ -0,0 +1,68 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_CREATESIMPLECALIBRATIONDIALOG_H_
+#define RTABMAP_CREATESIMPLECALIBRATIONDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QSettings>
+
+class Ui_createSimpleCalibrationDialog;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP CreateSimpleCalibrationDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	CreateSimpleCalibrationDialog(
+			const QString & savingFolder = ".",
+			const QString & cameraName = "",
+			QWidget * parent = 0);
+
+	virtual ~CreateSimpleCalibrationDialog();
+
+	void setCameraInfoDir(const QString & folder) {savingFolder_ = folder;}
+	const QString & cameraName() const {return cameraName_;}
+
+private slots:
+	void updateStereoView();
+	void updateSaveStatus();
+	void saveCalibration();
+
+private:
+	Ui_createSimpleCalibrationDialog * ui_;
+	QString savingFolder_;
+	QString cameraName_;
+};
+
+}
+
+#endif /* CREATESIMPLECALIBRATIONDIALOG_H_ */

guilib/include/rtabmap/gui/DataRecorder.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef DATARECORDER_H_
-#define DATARECORDER_H_
+#ifndef RTABMAP_DATARECORDER_H_
+#define RTABMAP_DATARECORDER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef DATABASEVIEWER_H_
-#define DATABASEVIEWER_H_
+#ifndef RTABMAP_DATABASEVIEWER_H_
+#define RTABMAP_DATABASEVIEWER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/DepthCalibrationDialog.h

@@ -0,0 +1,86 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_DEPTHCALIBRATIONDIALOG_H_
+#define RTABMAP_DEPTHCALIBRATIONDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QMap>
+#include <QtCore/QSettings>
+#include <rtabmap/core/Signature.h>
+#include <rtabmap/core/Parameters.h>
+
+class Ui_DepthCalibrationDialog;
+
+namespace clams {
+class DiscreteDepthDistortionModel;
+}
+
+namespace rtabmap {
+
+class ProgressDialog;
+
+class RTABMAPGUI_EXP DepthCalibrationDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	DepthCalibrationDialog(QWidget * parent = 0);
+	virtual ~DepthCalibrationDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void calibrate(const std::map<int, Transform> & poses,
+			const QMap<int, Signature> & cachedSignatures,
+			const QString & workingDirectory,
+			const ParametersMap & parameters);
+
+signals:
+	void configChanged();
+
+public slots:
+	void restoreDefaults();
+
+private slots:
+	void saveModel();
+	void cancel();
+
+private:
+	Ui_DepthCalibrationDialog * _ui;
+	ProgressDialog * _progressDialog;
+	bool _canceled;
+	clams::DiscreteDepthDistortionModel * _model;
+	QString _workingDirectory;
+	cv::Size _imageSize;
+};
+
+} /* namespace rtabmap */
+
+#endif /* GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_ */

guilib/include/rtabmap/gui/EditDepthArea.h

@@ -0,0 +1,90 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_EDITDEPTHAREA_H
+#define RTABMAP_EDITDEPTHAREA_H
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QColor>
+#include <QImage>
+#include <QPoint>
+#include <QWidget>
+#include <opencv2/opencv.hpp>
+
+class QMenu;
+class QAction;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP EditDepthArea : public QWidget
+{
+    Q_OBJECT
+
+public:
+    EditDepthArea(QWidget *parent = 0);
+
+    void setImage(const cv::Mat & depth, const cv::Mat & rgb = cv::Mat());
+    cv::Mat getModifiedImage() const;
+    bool isModified() const {return modified_;}
+
+    void setPenWidth(int newWidth);
+    int penWidth() const { return myPenWidth_; }
+
+public slots:
+    void resetChanges();
+
+protected:
+    virtual void mousePressEvent(QMouseEvent *event);
+    virtual void mouseMoveEvent(QMouseEvent *event);
+    virtual void mouseReleaseEvent(QMouseEvent *event);
+    virtual void paintEvent(QPaintEvent *event);
+    virtual void resizeEvent(QResizeEvent *event);
+    virtual void contextMenuEvent(QContextMenuEvent * e);
+
+private:
+    void drawLineTo(const QPoint &endPoint);
+    void computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const;
+
+    bool modified_;
+    bool scribbling_;
+    int myPenWidth_;
+    QImage imageRGB_;
+    QImage image_;
+    cv::Mat originalImage_;
+    QPoint lastPoint_;
+
+    QMenu * menu_;
+    QAction * showRGB_;
+    QAction * removeCluster_;
+    QAction * resetChanges_;
+    QAction * setPenWidth_;
+};
+
+}
+
+#endif

guilib/include/rtabmap/gui/ExportBundlerDialog.h

@@ -0,0 +1,73 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_EXPORTBUNDLERDIALOG_H_
+#define RTABMAP_EXPORTBUNDLERDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QSettings>
+
+class Ui_ExportBundlerDialog;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP ExportBundlerDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ExportBundlerDialog(QWidget * parent = 0);
+
+	virtual ~ExportBundlerDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void setWorkingDirectory(const QString & path);
+
+	QString outputPath() const;
+
+	double maxLinearSpeed() const;
+	double maxAngularSpeed() const;
+	double laplacianThreshold() const;
+
+signals:
+	void configChanged();
+
+private slots:
+	void getPath();
+	void restoreDefaults();
+
+private:
+	Ui_ExportBundlerDialog * _ui;
+};
+
+}
+
+#endif /* EXPORTBUNDLERDIALOG_H_ */

guilib/include/rtabmap/gui/ExportCloudsDialog.h

@@ -0,0 +1,141 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_EXPORTCLOUDSDIALOG_H_
+#define RTABMAP_EXPORTCLOUDSDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QMap>
+#include <QtCore/QSettings>
+
+#include <rtabmap/core/Signature.h>
+#include <rtabmap/core/Parameters.h>
+
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
+#include <pcl/pcl_base.h>
+
+class Ui_ExportCloudsDialog;
+class QAbstractButton;
+
+namespace rtabmap {
+class ProgressDialog;
+class GainCompensator;
+class DBDriver;
+
+class RTABMAPGUI_EXP ExportCloudsDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ExportCloudsDialog(QWidget *parent = 0);
+
+	virtual ~ExportCloudsDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void setDBDriver(const DBDriver * dbDriver) {_dbDriver = dbDriver;}
+
+	void exportClouds(
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & links,
+			const std::map<int, int> & mapIds,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
+			const std::map<int, cv::Mat> & cachedScans,
+			const QString & workingDirectory,
+			const ParametersMap & parameters);
+
+	void viewClouds(
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & links,
+			const std::map<int, int> & mapIds,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
+			const std::map<int, cv::Mat> & cachedScans,
+			const QString & workingDirectory,
+			const ParametersMap & parameters);
+
+	static bool removeDirRecursively(const QString & dirName);
+
+signals:
+	void configChanged();
+
+public slots:
+	void restoreDefaults();
+
+private slots:
+	void updateReconstructionFlavor();
+	void selectDistortionModel();
+	void updateMLSGrpVisibility();
+	void cancel();
+
+private:
+	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
+			const std::map<int, Transform> & poses,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
+			const std::map<int, cv::Mat> & cachedScans,
+			const ParametersMap & parameters,
+			bool & has2dScans) const;
+	bool getExportedClouds(
+				const std::map<int, Transform> & poses,
+				const std::multimap<int, Link> & links,
+				const std::map<int, int> & mapIds,
+				const QMap<int, Signature> & cachedSignatures,
+				const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
+				const std::map<int, cv::Mat> & cachedScans,
+				const QString & workingDirectory,
+				const ParametersMap & parameters,
+				std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
+				std::map<int, pcl::PolygonMesh::Ptr> & meshes,
+				std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
+				std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
+	void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
+	void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
+	void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
+
+	void setSaveButton();
+	void setOkButton();
+
+private:
+	Ui_ExportCloudsDialog * _ui;
+	ProgressDialog * _progressDialog;
+	QString _workingDirectory;
+	bool _canceled;
+	GainCompensator * _compensator;
+	const DBDriver * _dbDriver;
+};
+
+}
+
+#endif /* EXPORTCLOUDSDIALOG_H_ */

guilib/include/rtabmap/gui/ExportDialog.h

@@ -0,0 +1,75 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_EXPORTDIALOG_H_
+#define RTABMAP_EXPORTDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QSettings>
+
+class Ui_ExportDialog;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP ExportDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ExportDialog(QWidget * parent = 0);
+
+	virtual ~ExportDialog();
+
+	void saveSettings(QSettings & settings, const QString & group) const;
+	void loadSettings(QSettings & settings, const QString & group);
+
+	QString outputPath() const;
+	int framesIgnored() const;
+	double targetFramerate() const;
+	int sessionExported() const;
+	bool isRgbExported() const;
+	bool isDepthExported() const;
+	bool isDepth2dExported() const;
+	bool isOdomExported() const;
+	bool isUserDataExported() const;
+
+signals:
+	void configChanged();
+
+private slots:
+	void getPath();
+	void restoreDefaults();
+
+private:
+	Ui_ExportDialog * _ui;
+};
+
+}
+
+#endif /* EXPORTDIALOG_H_ */

guilib/include/rtabmap/gui/GraphViewer.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef GRAPHVIEWER_H_
-#define GRAPHVIEWER_H_
+#ifndef RTABMAP_GRAPHVIEWER_H_
+#define RTABMAP_GRAPHVIEWER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/ImageView.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef IMAGEVIEW_H_
-#define IMAGEVIEW_H_
+#ifndef RTABMAP_IMAGEVIEW_H_
+#define RTABMAP_IMAGEVIEW_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 
@@ -63,6 +63,7 @@ public:
 	int getAlpha() const {return _alpha;}
 	bool isGraphicsViewMode() const;
 	bool isGraphicsViewScaled() const;
+	const QColor & getDefaultBackgroundColor() const;
 	const QColor & getBackgroundColor() const;
 
 	float viewScale() const;
@@ -73,6 +74,7 @@ public:
 	void setLinesShown(bool shown);
 	void setGraphicsViewMode(bool on);
 	void setGraphicsViewScaled(bool scaled);
+	void setDefaultBackgroundColor(const QColor & color);
 	void setBackgroundColor(const QColor & color);
 
 	void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
@@ -112,6 +114,7 @@ private:
 private:
 	QString _savedFileName;
 	int _alpha;
+	QColor _defaultBgColor;
 
 	QMenu * _menu;
 	QAction * _showImage;

guilib/include/rtabmap/gui/KeypointItem.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef KEYPOINTITEM_H_
-#define KEYPOINTITEM_H_
+#ifndef RTABMAP_KEYPOINTITEM_H_
+#define RTABMAP_KEYPOINTITEM_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/LoopClosureViewer.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef LOOPCLOSUREVIEWER_H_
-#define LOOPCLOSUREVIEWER_H_
+#ifndef RTABMAP_LOOPCLOSUREVIEWER_H_
+#define RTABMAP_LOOPCLOSUREVIEWER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/MainWindow.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef MAINWINDOW_H_
-#define MAINWINDOW_H_
+#ifndef RTABMAP_MAINWINDOW_H_
+#define RTABMAP_MAINWINDOW_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 
@@ -96,7 +96,7 @@ public:
 	 * @param prefDialog If NULL, a default dialog is created. This
 	 *                   dialog is automatically destroyed with the MainWindow.
 	 */
-	MainWindow(PreferencesDialog * prefDialog = 0, QWidget * parent = 0);
+	MainWindow(PreferencesDialog * prefDialog = 0, QWidget * parent = 0, bool showSplashScreen = true);
 	virtual ~MainWindow();
 
 	QString getWorkingDirectory() const;
@@ -106,8 +106,10 @@ public:
 	bool isProcessingStatistics() const {return _processingStatistics;}
 	bool isProcessingOdometry() const {return _processingOdometry;}
 
+	bool isDatabaseUpdated() const { return _databaseUpdated; }
+
 public slots:
-	void processStats(const rtabmap::Statistics & stat);
+	virtual void processStats(const rtabmap::Statistics & stat);
 	void updateCacheFromDatabase(const QString & path);
 	void openDatabase(const QString & path);
 	void updateParameters(const rtabmap::ParametersMap & parameters);
@@ -121,19 +123,31 @@ protected:
 	virtual void keyPressEvent(QKeyEvent *event);
 	virtual bool eventFilter(QObject *obj, QEvent *event);
 
-private slots:
-	void changeState(MainWindow::State state);
+protected slots:
+	virtual void changeState(MainWindow::State state);
+	virtual void newDatabase();
+	virtual void openDatabase();
+	virtual bool closeDatabase();
+	virtual void startDetection();
+	virtual void pauseDetection();
+	virtual void stopDetection();
+	virtual void saveConfigGUI();
+	virtual void downloadAllClouds();
+	virtual void downloadPoseGraph();
+	virtual void clearTheCache();
+	virtual void openHelp();
+	virtual void openPreferences();
+	virtual void openPreferencesSource();
+	virtual void setDefaultViews();
+	virtual void resetOdometry();
+	virtual void triggerNewMap();
+	virtual void deleteMemory();
+
+protected slots:
 	void beep();
 	void cancelProgress();
 	void configGUIModified();
-	void saveConfigGUI();
-	void newDatabase();
-	void openDatabase();
-	bool closeDatabase();
 	void editDatabase();
-	void startDetection();
-	void pauseDetection();
-	void stopDetection();
 	void notifyNoMoreImages();
 	void printLoopClosureIds();
 	void generateGraphDOT();
@@ -146,7 +160,6 @@ private slots:
 	void exportOctomap();
 	void postProcessing();
 	void depthCalibration();
-	void deleteMemory();
 	void openWorkingDirectory();
 	void updateEditMenu();
 	void selectStream();
@@ -169,14 +182,7 @@ private slots:
 	void cancelGoal();
 	void label();
 	void updateCacheFromDatabase();
-	void downloadAllClouds();
-	void downloadPoseGraph();
 	void anchorCloudsToGroundTruth();
-	void clearTheCache();
-	void openHelp();
-	void openPreferences();
-	void openPreferencesSource();
-	void setDefaultViews();
 	void selectScreenCaptureFormat(bool checked);
 	void takeScreenshot();
 	void updateElapsedTime();
@@ -207,8 +213,6 @@ private slots:
 	void exportClouds();
 	void exportBundlerFormat();
 	void viewClouds();
-	void resetOdometry();
-	void triggerNewMap();
 	void dataRecorder();
 	void dataRecorderDestroyed();
 	void updateNodeVisibility(int, bool);
@@ -256,6 +260,33 @@ private:
 	void exportPoses(int format);
 	QString captureScreen(bool cacheInRAM = false);
 
+protected:
+	Ui_mainWindow * ui() { return _ui; }
+	const State & state() const { return _state; }
+
+	const QMap<int, Signature> & cachedSignatures() const { return _cachedSignatures;}
+	const std::map<int, Transform> & currentPosesMap() const { return _currentPosesMap; }  // <nodeId, pose>
+	const std::map<int, Transform> & currentGTPosesMap() const { return _currentGTPosesMap; }  // <nodeId, pose>
+	const std::multimap<int, Link> & currentLinksMap() const { return _currentLinksMap; }  // <nodeFromId, link>
+	const std::map<int, int> & currentMapIds() const { return _currentMapIds; }    // <nodeId, mapId>
+	const std::map<int, std::string> & currentLabels() const { return _currentLabels; }  // <nodeId, label>
+	const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds() const { return _cachedClouds; }
+	const std::map<int, cv::Mat> & createdScans() const { return _createdScans; }
+	const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & createdFeatures() const { return _createdFeatures; }
+
+	const rtabmap::OccupancyGrid * occupancyGrid() const { return _occupancyGrid; }
+	const rtabmap::OctoMap * octomap() const { return _octomap; }
+
+	rtabmap::ProgressDialog * progressDialog() { return _progressDialog; }
+	rtabmap::CloudViewer * cloudViewer() const { return _cloudViewer; }
+	rtabmap::LoopClosureViewer * loopClosureViewer() const { return _loopClosureViewer; }
+
+	void setCloudViewer(rtabmap::CloudViewer * cloudViewer);
+	void setLoopClosureViewer(rtabmap::LoopClosureViewer * loopClosureViewer);
+
+	void setNewDatabasePathOutput(const QString & newDatabasePathOutput) {_newDatabasePathOutput = newDatabasePathOutput;}
+	const QString & newDatabasePathOutput() const { return _newDatabasePathOutput; }
+
 private:
 	Ui_mainWindow * _ui;
 
@@ -320,7 +351,7 @@ private:
 	PdfPlotCurve * _likelihoodCurve;
 	PdfPlotCurve * _rawLikelihoodCurve;
 
-	ProgressDialog * _initProgressDialog;
+	ProgressDialog * _progressDialog;
 
 	CloudViewer * _cloudViewer;
 	LoopClosureViewer * _loopClosureViewer;
@@ -341,4 +372,4 @@ private:
 
 }
 
-#endif /* MainWindow_H_ */
+#endif /* RTABMAP_MainWindow_H_ */

guilib/include/rtabmap/gui/MapVisibilityWidget.h

@@ -0,0 +1,69 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_MAPVISIBILITYWIDGET_H_
+#define RTABMAP_MAPVISIBILITYWIDGET_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QWidget>
+#include <rtabmap/core/Transform.h>
+#include <map>
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP MapVisibilityWidget : public QWidget {
+	Q_OBJECT;
+public:
+	MapVisibilityWidget(QWidget * parent = 0);
+	virtual ~MapVisibilityWidget();
+
+	void setMap(const std::map<int, Transform> & poses, const std::map<int, bool> & mask);
+	std::map<int, Transform> getVisiblePoses() const;
+
+	void clear();
+
+protected:
+	virtual void showEvent(QShowEvent * event);
+
+private slots:
+	void signalVisibility();
+	void selectAll(bool);
+
+private:
+	void updateCheckBoxes();
+
+signals:
+	void visibilityChanged(int id, bool visible);
+
+private:
+	std::map<int, Transform> _poses;
+	std::map<int, bool> _mask;
+};
+
+} /* namespace rtabmap */
+#endif /* MAPVISIBILITYWIDGET_H_ */

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef ODOMETRYVIEWER_H_
-#define ODOMETRYVIEWER_H_
+#ifndef RTABMAP_ODOMETRYVIEWER_H_
+#define RTABMAP_ODOMETRYVIEWER_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/ParametersToolBox.h

@@ -0,0 +1,90 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+//
+// Original version from Find-Object: https://github.com/introlab/find-object
+//
+
+#ifndef RTABMAP_PARAMETERSTOOLBOX_H_
+#define RTABMAP_PARAMETERSTOOLBOX_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <rtabmap/core/Parameters.h>
+#include <QWidget>
+#include <QSet>
+
+class QVBoxLayout;
+class QStackedWidget;
+class QComboBox;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP ParametersToolBox: public QWidget
+{
+	Q_OBJECT
+
+public:
+	ParametersToolBox(QWidget *parent = 0);
+	virtual ~ParametersToolBox();
+
+	void setupUi(const ParametersMap & parameters);
+	QWidget * getParameterWidget(const QString & key);
+	void updateParameter(const std::string & key, const std::string & value);
+	const ParametersMap & getParameters() const {return parameters_;}
+
+private:
+	void addParameter(QVBoxLayout * layout, const std::string & key, const std::string & value);
+	void addParameter(QVBoxLayout * layout, const QString & key, const QString & value);
+	void addParameter(QVBoxLayout * layout, const QString & key, const int & value);
+	void addParameter(QVBoxLayout * layout, const QString & key, const double & value);
+	void addParameter(QVBoxLayout * layout, const QString & key, const bool & value);
+	void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
+
+Q_SIGNALS:
+	void parametersChanged(const QStringList & name);
+
+private Q_SLOTS:
+	void changeParameter();
+	void changeParameter(const QString & value);
+	void changeParameter(const int & value);
+	void resetCurrentPage();
+	void resetAllPages();
+
+private:
+	QStringList resetPage(int index);
+	void updateParametersVisibility();
+
+private:
+	QComboBox * comboBox_;
+	QStackedWidget * stackedWidget_;
+	ParametersMap parameters_;
+};
+
+} // namespace find_object
+
+#endif /* PARAMETERSTOOLBOX_H_ */

guilib/include/rtabmap/gui/PdfPlot.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef PDFPLOT_H_
-#define PDFPLOT_H_
+#ifndef RTABMAP_PDFPLOT_H_
+#define RTABMAP_PDFPLOT_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/PostProcessingDialog.h

@@ -0,0 +1,96 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_POSTPROCESSINGDIALOG_H_
+#define RTABMAP_POSTPROCESSINGDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <QtCore/QSettings>
+
+#include <rtabmap/core/Optimizer.h>
+
+class Ui_PostProcessingDialog;
+class QAbstractButton;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP PostProcessingDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	PostProcessingDialog(QWidget * parent = 0);
+
+	virtual ~PostProcessingDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	//getters
+	bool isDetectMoreLoopClosures() const;
+	double clusterRadius() const;
+	double clusterAngle() const;
+	int iterations() const;
+	bool isRefineNeighborLinks() const;
+	bool isRefineLoopClosureLinks() const;
+	bool isSBA() const;
+	int sbaIterations() const;
+	double sbaVariance() const;
+	Optimizer::Type sbaType() const;
+
+	//setters
+	void setDetectMoreLoopClosures(bool on);
+	void setClusterRadius(double radius);
+	void setClusterAngle(double angle);
+	void setIterations(int iterations);
+	void setRefineNeighborLinks(bool on);
+	void setRefineLoopClosureLinks(bool on);
+	void setSBA(bool on);
+	void setSBAIterations(int iterations);
+	void setSBAVariance(double variance);
+	void setSBAType(Optimizer::Type type);
+
+signals:
+	void configChanged();
+
+public slots:
+	void restoreDefaults();
+
+private slots:
+	void updateVisibility();
+	void updateButtonBox();
+
+
+private:
+	Ui_PostProcessingDialog * _ui;
+};
+
+}
+
+#endif /* POSTPROCESSINGDIALOG_H_ */

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef PREFERENCESDIALOG_H_
-#define PREFERENCESDIALOG_H_
+#ifndef RTABMAP_PREFERENCESDIALOG_H_
+#define RTABMAP_PREFERENCESDIALOG_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/ProgressDialog.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef PROGRESSDIALOG_H_
-#define PROGRESSDIALOG_H_
+#ifndef RTABMAP_PROGRESSDIALOG_H_
+#define RTABMAP_PROGRESSDIALOG_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/RecoveryState.h

@@ -0,0 +1,103 @@
+/*
+Copyright (c) 2010-2017, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_RECOVERYSTATE_H_
+#define RTABMAP_RECOVERYSTATE_H_
+
+#include "rtabmap/gui/ProgressDialog.h"
+#include "rtabmap/core/ProgressState.h"
+#include "rtabmap/utilite/UStl.h"
+#include "rtabmap/utilite/UConversion.h"
+#include <QApplication>
+
+namespace rtabmap {
+
+class RecoveryState : public QObject, public ProgressState
+{
+	Q_OBJECT
+
+public:
+	RecoveryState(ProgressDialog * dialog): dialog_(dialog)
+	{
+		connect(dialog_, SIGNAL(canceled()), this, SLOT(cancel()));
+	}
+	virtual ~RecoveryState() {}
+	virtual bool callback(const std::string & msg) const
+	{
+		if(!msg.empty())
+		{
+			QString msgQt = msg.c_str();
+			if(msgQt.contains("Processed"))
+			{
+				dialog_->incrementStep();
+				dialog_->appendText(msg.c_str());
+			}
+			else if(msgQt.contains("Found"))
+			{
+				std::list<std::string> strSplit = uSplitNumChar(msg);
+				if(strSplit.size() == 3)
+				{
+					int nodes = uStr2Int(*(++strSplit.begin()));
+					if(nodes > 0)
+					{
+						dialog_->setMaximumSteps(nodes);
+					}
+				}
+				dialog_->appendText(msg.c_str());
+			}
+			else if(msgQt.contains("Skipping") ||
+					msgQt.contains("Failed processing"))
+			{
+				dialog_->appendText(msg.c_str(), Qt::darkYellow);
+			}
+			else
+			{
+				dialog_->appendText(msg.c_str());
+			}
+		}
+		QApplication::processEvents();
+		if(!isCanceled())
+		{
+			return ProgressState::callback(msg);
+		}
+		return false;
+	}
+
+public slots:
+	void cancel()
+	{
+		setCanceled(true);
+	}
+
+private:
+	ProgressDialog * dialog_;
+};
+
+}
+
+
+#endif /* RECOVERYSTATE_H_ */

guilib/include/rtabmap/gui/StatsToolBox.h

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef STATSTOOLBOX_H_
-#define STATSTOOLBOX_H_
+#ifndef RTABMAP_STATSTOOLBOX_H_
+#define RTABMAP_STATSTOOLBOX_H_
 
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 

guilib/include/rtabmap/gui/TexturingState.h

@@ -0,0 +1,80 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+
+#ifndef RTABMAP_TEXTURINGSTATE_H_
+#define RTABMAP_TEXTURINGSTATE_H_
+
+#include "rtabmap/gui/ProgressDialog.h"
+#include "rtabmap/core/ProgressState.h"
+#include <QApplication>
+
+namespace rtabmap {
+
+class TexturingState : public QObject, public ProgressState
+{
+	Q_OBJECT
+
+public:
+	TexturingState(ProgressDialog * dialog, bool incrementOnMsgReceived): dialog_(dialog)
+	{
+		_increment = incrementOnMsgReceived;
+		connect(dialog_, SIGNAL(canceled()), this, SLOT(cancel()));
+	}
+	virtual ~TexturingState() {}
+	virtual bool callback(const std::string & msg) const
+	{
+		if(!msg.empty())
+		{
+			dialog_->appendText(msg.c_str());
+			if(_increment)
+			{
+				dialog_->incrementStep();
+			}
+		}
+		QApplication::processEvents();
+		if(!isCanceled())
+		{
+			return ProgressState::callback(msg);
+		}
+		return false;
+	}
+
+public slots:
+	void cancel()
+	{
+		setCanceled(true);
+	}
+
+private:
+	ProgressDialog * dialog_;
+	bool _increment;
+};
+
+}
+
+#endif /* GUILIB_SRC_TEXTURINGSTATE_H_ */