Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used.

corelib/include/rtabmap/core/Camera.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/highgui/highgui.hpp>
 #include "rtabmap/core/SensorData.h"
+#include "rtabmap/core/CameraInfo.h"
 #include <set>
 #include <stack>
 #include <list>
@@ -50,12 +51,11 @@ class RTABMAP_EXP Camera
 {
 public:
 	virtual ~Camera();
-	SensorData takeImage();
+	SensorData takeImage(CameraInfo * info = 0);
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
 	virtual bool isCalibrated() const = 0;
 	virtual std::string getSerial() const = 0;
-	int getNextSeqID() {return ++_seq;}
 
 	//getters
 	float getImageRate() const {return _imageRate;}
@@ -78,6 +78,8 @@ protected:
 	 */
 	virtual SensorData captureImage() = 0;
 
+	int getNextSeqID() {return ++_seq;}
+
 private:
 	float _imageRate;
 	Transform _localTransform;

corelib/include/rtabmap/core/CameraEvent.h

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/utilite/UEvent.h>
 #include "rtabmap/core/SensorData.h"
+#include "rtabmap/core/CameraInfo.h"
 
 namespace rtabmap
 {
@@ -43,11 +44,11 @@ public:
 	};
 
 public:
-	CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0, const std::string & cameraName = "") :
+	CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0, const std::string & cameraName = std::string()) :
 		UEvent(kCodeData),
-		data_(image, seq, stamp),
-		cameraName_(cameraName)
+		data_(image, seq, stamp)
 	{
+		cameraInfo_.cameraName_ = cameraName;
 	}
 
 	CameraEvent() :
@@ -55,23 +56,36 @@ public:
 	{
 	}
 
-	CameraEvent(const SensorData & data, const std::string & cameraName = "") :
+	CameraEvent(const SensorData & data) :
+		UEvent(kCodeData),
+		data_(data)
+	{
+	}
+
+	CameraEvent(const SensorData & data, const std::string & cameraName) :
+		UEvent(kCodeData),
+		data_(data)
+	{
+		cameraInfo_.cameraName_ = cameraName;
+	}
+	CameraEvent(const SensorData & data, const CameraInfo & cameraInfo) :
 		UEvent(kCodeData),
 		data_(data),
-		cameraName_(cameraName)
+		cameraInfo_(cameraInfo)
 	{
 	}
 
 	// Image or descriptors
 	const SensorData & data() const {return data_;}
-	const std::string & cameraName() const {return cameraName_;}
+	const std::string & cameraName() const {return cameraInfo_.cameraName_;}
+	const CameraInfo & info() const {return cameraInfo_;}
 
 	virtual ~CameraEvent() {}
 	virtual std::string getClassName() const {return std::string("CameraEvent");}
 
 private:
 	SensorData data_;
-	std::string cameraName_;
+	CameraInfo cameraInfo_;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/CameraInfo.h

@@ -0,0 +1,56 @@
+/*
+Copyright (c) 2010-2014, 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.
+*/
+
+#pragma once
+
+#include <string>
+
+namespace rtabmap
+{
+
+class CameraInfo
+{
+
+public:
+	CameraInfo() :
+		cameraName_(""),
+		id_(0),
+		timeCapture_(0.0),
+		timeDisparity_(0.0),
+		timeMirroring_(0.0)
+	{
+	}
+	virtual ~CameraInfo() {}
+
+	std::string cameraName_;
+	int id_;
+	float timeCapture_;
+	float timeDisparity_;
+	float timeMirroring_;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/Odometry.h

@@ -64,6 +64,7 @@ public:
 	double getPnPReprojError() const {return _pnpReprojError;}
 	int  getPnPFlags() const {return _pnpFlags;}
 	const Transform & previousTransform() const {return previousTransform_;}
+	bool isVarianceFromInliersCount() const {return _varianceFromInliersCount;}
 
 private:
 	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0) = 0;

corelib/include/rtabmap/core/util3d_motion_estimation.h

@@ -51,7 +51,7 @@ Transform RTABMAP_EXP estimateMotion3DTo2D(
 			int flagsPnP = 0,
 			const Transform & guess = Transform::getIdentity(),
 			const std::map<int, pcl::PointXYZ> & words3B = std::map<int, pcl::PointXYZ>(),
-			double * varianceOut = 0,
+			double * varianceOut = 0, // mean reproj error if words3B is not set
 			std::vector<int> * matchesOut = 0,
 			std::vector<int> * inliersOut = 0);