RTABMapConfig.cmake: added find VTK if vtkGUISupportQt target is required

Odometry: Added additional debug information on dt>0 assert

CMakeLists.txt

@@ -6,9 +6,10 @@ SET(PROJECT_PREFIX rtabmap)
 
 # Catkin doesn't support multiarch library path, 
 # fix to "lib" if not set by user.
-#IF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
-#   set(CMAKE_INSTALL_LIBDIR "lib")
-#ENDIF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
+OPTION(MULTI_ARCH "Activate multi-arch lib directory (debian)" OFF)
+IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
+   set(CMAKE_INSTALL_LIBDIR "lib")
+ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
 
 INCLUDE(GNUInstallDirs)
 
@@ -20,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 11)
-SET(RTABMAP_PATCH_VERSION 4)
+SET(RTABMAP_PATCH_VERSION 8)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   
@@ -136,6 +137,9 @@ option(WITH_TORO          "Include TORO support"                 ON)
 option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
+option(WITH_ZED           "Include ZED sdk support"              ON)
+option(WITH_OCTOMAP       "Include Octomap support"              ON)
+option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
@@ -155,6 +159,9 @@ if(OPENMP_FOUND)
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
   message (STATUS "Found OpenMP")
+  if(PCL_OMP)
+    add_definitions(-DPCL_OMP)
+  endif(PCL_OMP)
 else(OPENMP_FOUND)
   message (STATUS "Not found OpenMP")
 endif()
@@ -169,19 +176,36 @@ IF(ZLIB_FOUND)
    MESSAGE(STATUS "Found ZLIB: ${ZLIB_INCLUDE_DIRS}")
 ENDIF(ZLIB_FOUND)
 
+SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE)
 IF(WITH_QT)
+    FIND_PACKAGE(VTK)
+    IF(NOT VTK_FOUND)
+        MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
+    ENDIF(NOT VTK_FOUND)
+
     # If Qt is here, the GUI will be built
-    # look for Qt5 before Qt4
-    FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg QUIET)
+    # look for Qt5 (if vtk>5 is installed) before Qt4
+    IF("${VTK_MAJOR_VERSION}" GREATER 5)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
+        IF(Qt5_FOUND)
+             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
+        ENDIF(Qt5_FOUND)
+    ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
+
     IF(NOT Qt5_FOUND)
         FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
     ENDIF(NOT Qt5_FOUND)
         
     IF(QT4_FOUND OR Qt5_FOUND)
-        FIND_PACKAGE(VTK REQUIRED)
         IF("${VTK_MAJOR_VERSION}" EQUAL 5)
             FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
-        ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
+        ELSE()
+            list(FIND PCL_LIBRARIES vtkGUISupportQt value)
+            IF(value EQUAL -1)
+                SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
+                SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
+            ENDIF(value EQUAL -1)
+        ENDIF()
     ENDIF(QT4_FOUND OR Qt5_FOUND)
 ENDIF(WITH_QT)
 
@@ -228,7 +252,57 @@ IF(WITH_GTSAM)
     FIND_PACKAGE(GTSAM QUIET)
 ENDIF(WITH_GTSAM)
 
-IF(G2O_FOUND OR GTSAM_FOUND)
+IF(WITH_FLYCAPTURE2)
+    FIND_PACKAGE(FlyCapture2 QUIET)
+    IF(FlyCapture2_FOUND)
+       MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_INCLUDE_DIRS}")
+    ENDIF(FlyCapture2_FOUND)
+ENDIF(WITH_FLYCAPTURE2)
+
+IF(WITH_CVSBA)
+	FIND_PACKAGE(cvsba QUIET)
+    IF(cvsba_FOUND)
+       MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
+    ENDIF(cvsba_FOUND)
+ENDIF(WITH_CVSBA)
+
+IF(WITH_ZED)
+	IF(WIN32) # Windows
+		SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
+		if (CMAKE_CL_64) # 64 bits
+			SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
+		else(CMAKE_CL_64) # 32 bits
+			message("32bits compilation is no more available with CUDA7.0")
+		endif(CMAKE_CL_64)
+		SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
+		IF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
+			SET(ZED_FOUND TRUE)
+			LINK_DIRECTORIES( ${LINK_DIRECTORIES} ${ZED_LIBRARY_DIR})
+		ENDIF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
+	ELSE() # Linux
+		find_package(ZED 1 QUIET)
+	ENDIF(WIN32)
+	
+	IF(ZED_FOUND)
+       MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}")
+	   ## look for CUDA
+	   find_package(CUDA)
+	   IF(CUDA_FOUND)
+		MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
+	   ELSE()
+	    MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
+	   ENDIF()
+    ENDIF(ZED_FOUND)
+ENDIF(WITH_ZED)
+
+IF(WITH_OCTOMAP)
+	FIND_PACKAGE(OCTOMAP QUIET)
+    IF(OCTOMAP_FOUND)
+       MESSAGE(STATUS "Found octomap: ${OCTOMAP_INCLUDE_DIRS}")
+    ENDIF(OCTOMAP_FOUND)
+ENDIF(WITH_OCTOMAP)
+
+IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
      include(CheckCXXCompilerFlag)
@@ -242,21 +316,7 @@ IF(G2O_FOUND OR GTSAM_FOUND)
 		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
 	  ENDIF()
    ENDIF()
-ENDIF(G2O_FOUND OR GTSAM_FOUND)
-
-IF(WITH_FLYCAPTURE2)
-    FIND_PACKAGE(FlyCapture2 QUIET)
-    IF(FlyCapture2_FOUND)
-       MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_INCLUDE_DIRS}")
-    ENDIF(FlyCapture2_FOUND)
-ENDIF(WITH_FLYCAPTURE2)
-
-IF(WITH_CVSBA)
-    FIND_PACKAGE(cvsba QUIET)
-    IF(cvsba_FOUND)
-       MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
-    ENDIF(cvsba_FOUND)
-ENDIF(WITH_CVSBA)
+ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND)
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
@@ -287,15 +347,24 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 
 ####### SOURCES (Projects) #######
+
+# CONF_DEPENDENCIES contains only dependencies not required by the headers
+SET(CONF_DEPENDENCIES 
+	${ZLIB_LIBRARIES}
+)
 IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
    SET(NONFREE "//")
 ENDIF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
 IF(NOT G2O_FOUND)
    SET(G2O "//")
-ENDIF(NOT G2O_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
+ENDIF()
 IF(NOT GTSAM_FOUND)
    SET(GTSAM "//")
-ENDIF(NOT GTSAM_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
+ENDIF()
 IF(NOT WITH_TORO)
    SET(TORO "//")
 ENDIF(NOT WITH_TORO)
@@ -304,22 +373,50 @@ IF(NOT WITH_VERTIGO)
 ENDIF(NOT WITH_VERTIGO)
 IF(NOT cvsba_FOUND)
    SET(CVSBA "//")
-ENDIF(NOT cvsba_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${cvsba_LIBRARIES})
+ENDIF()
 IF(NOT Freenect_FOUND)
    SET(FREENECT "//")
-ENDIF(NOT Freenect_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${Freenect_LIBRARIES})
+ENDIF()
 IF(NOT freenect2_FOUND)
    SET(FREENECT2 "//")
-ENDIF(NOT freenect2_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${freenect2_LIBRARIES})
+ENDIF()
 IF(NOT OpenNI2_FOUND)
    SET(OPENNI2 "//")
-ENDIF(NOT OpenNI2_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OpenNI2_LIBRARIES})
+ENDIF()
 IF(NOT DC1394_FOUND)
    SET(DC1394 "//")
-ENDIF(NOT DC1394_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${DC1394_LIBRARIES})
+ENDIF()
 IF(NOT FlyCapture2_FOUND)
    SET(FLYCAPTURE2 "//")
-ENDIF(NOT FlyCapture2_FOUND)
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${FlyCapture2_LIBRARIES})
+ENDIF()
+IF(NOT ZED_FOUND)
+   SET(ZED "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
+ENDIF()
+IF(NOT OCTOMAP_FOUND)
+   SET(OCTOMAP "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
+ENDIF()
+IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
+   SET(CONF_VTK_QT true)
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
+ELSE()
+   SET(CONF_VTK_QT false)
+ENDIF()
 IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
    SET(OPENCV3 "//")
 ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
@@ -373,6 +470,11 @@ set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include"
 set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
 IF(QT4_FOUND OR Qt5_FOUND)
    set(CONF_WITH_GUI ON)
+   IF(QT4_FOUND)
+      set(CONF_QT_VERSION 4)
+   ELSE()
+      set(CONF_QT_VERSION 5)
+   ENDIF()
 ELSE()
    set(CONF_WITH_GUI OFF)
 ENDIF()
@@ -589,6 +691,26 @@ ELSE()
 MESSAGE(STATUS "  With cvsba                = NO (cvsba not found)")
 ENDIF()
 
+IF(ZED_FOUND)
+IF(CUDA_FOUND)
+MESSAGE(STATUS "  With ZED                  = YES (With CUDA)")
+ELSE()
+MESSAGE(STATUS "  With ZED                  = YES (Without CUDA)")
+ENDIF()
+ELSEIF(NOT WITH_ZED)
+MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
+ELSE()
+MESSAGE(STATUS "  With ZED                  = NO (ZED sdk not found)")
+ENDIF()
+
+IF(OCTOMAP_FOUND)
+MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
+ELSEIF(NOT WITH_OCTOMAP)
+MESSAGE(STATUS "  With OCTOMAP              = NO (WITH_OCTOMAP=OFF)")
+ELSE()
+MESSAGE(STATUS "  With OCTOMAP              = NO (octomap not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2010-2015, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

RTABMapConfig.cmake.in

@@ -61,9 +61,16 @@ if(@CONF_WITH_GUI@)
    set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
 endif(@CONF_WITH_GUI@)
 
+# Dependencies
+if(@CONF_VTK_QT@)
+   find_package(VTK COMPONENTS vtkGUISupportQt NO_MODULE) # to define vtkGUISupportQt target
+endif(@CONF_VTK_QT@)
+set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} @CONF_DEPENDENCIES@)
+
 #backward compatibilities
 set(RTABMAP_CORE ${RTABMap_CORE})
 set(RTABMAP_UTILITE ${RTABMap_UTILITE})
 if(RTABMap_GUI)
    set(RTABMAP_GUI ${RTABMap_GUI})
-endif(RTABMap_GUI)
+   set(RTABMAP_QT_VERSION @CONF_QT_VERSION@)
+endif(RTABMap_GUI)

Version.h.in

@@ -49,6 +49,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @CVSBA@#define RTABMAP_CVSBA
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
+@ZED@#define RTABMAP_ZED
+@OCTOMAP@#define RTABMAP_OCTOMAP
 
 #endif /* VERSION_H_ */
 

app/android/AndroidManifest.xml.in

@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="8"
+        android:versionCode="9"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />
@@ -11,7 +11,7 @@
     <uses-permission android:name="android.permission.READ_FRAME_BUFFER" />
     <uses-permission android:name="android.permission.ACCESS_SURFACE_FLINGER" />
     <uses-feature android:glEsVersion="0x00020000" />
-    <uses-library android:name="com.projecttango.libtango_device" android:required="true" />
+    <uses-library android:name="com.projecttango.libtango_device2" android:required="true" />
 
     <!-- This is the platform API where NativeActivity was introduced. -->
     <uses-sdk android:minSdkVersion="17" />

app/android/jni/CameraTango.cpp

@@ -464,7 +464,7 @@ rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp, bool inOpen
 	return pose;
 }
 
-SensorData CameraTango::captureImage()
+SensorData CameraTango::captureImage(CameraInfo * info)
 {
 	LOGI("Capturing image...");
 

app/android/jni/CameraTango.h

@@ -86,7 +86,7 @@ public:
 	void tangoEventReceived(int type, const char * key, const char * value);
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp, bool inOpenGLFrame);

app/android/jni/RTABMapApp.cpp

@@ -56,6 +56,10 @@ const int kVersionStringLength = 128;
 static JavaVM *jvm;
 static jobject RTABMapActivity = 0;
 
+namespace {
+constexpr int kTangoCoreMinimumVersion = 9377;
+}  // anonymous namespace.
+
 rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
 {
 	rtabmap::ParametersMap parameters;
@@ -101,7 +105,9 @@ RTABMapApp::RTABMapApp() :
 		clearSceneOnNextRender_(false),
 		totalPoints_(0),
 		totalPolygons_(0),
-		lastDrawnCloudsCount_(0)
+		lastDrawnCloudsCount_(0),
+		renderingFPS_(0.0f)
+
 {
 
 }
@@ -122,19 +128,19 @@ RTABMapApp::~RTABMapApp() {
   }
 }
 
-int RTABMapApp::TangoInitialize(JNIEnv* env, jobject caller_activity)
+void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
 {
-
 	env->GetJavaVM(&jvm);
 	RTABMapActivity = env->NewGlobalRef(caller_activity);
 
-	LOGI("RTABMapApp::TangoInitialize()");
+	LOGI("RTABMapApp::onCreate()");
 	createdMeshes_.clear();
 	rawPoses_.clear();
 	clearSceneOnNextRender_ = true;
 	totalPoints_ = 0;
 	totalPolygons_ = 0;
 	lastDrawnCloudsCount_ = 0;
+	renderingFPS_ = 0.0f;
 
 	if(camera_)
 	{
@@ -158,12 +164,6 @@ int RTABMapApp::TangoInitialize(JNIEnv* env, jobject caller_activity)
 	this->registerToEventsManager();
 
 	camera_ = new rtabmap::CameraTango(fullResolution_?1:2, autoExposure_);
-
-
-  // The first thing we need to do for any Tango enabled application is to
-  // initialize the service. We'll do that here, passing on the JNI environment
-  // and jobject corresponding to the Android activity that is calling us.
-  return TangoService_initialize(env, caller_activity);
 }
 
 void RTABMapApp::openDatabase(const std::string & databasePath)
@@ -218,22 +218,27 @@ void RTABMapApp::openDatabase(const std::string & databasePath)
 	rtabmapMutex_.unlock();
 }
 
-int RTABMapApp::onResume()
+bool RTABMapApp::onTangoServiceConnected(JNIEnv* env, jobject iBinder)
 {
-	LOGW("onResume()");
+	LOGW("onTangoServiceConnected()");
 	if(camera_)
 	{
 		camera_->join(true);
 
+		if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
+		    LOGE("TangoHandler::ConnectTango, TangoService_setBinder error");
+		    return false;
+		}
+
 		if(camera_->init())
 		{
 			LOGI("Start camera thread");
 			camera_->start();
-			return TANGO_SUCCESS;
+			return true;
 		}
 		LOGE("Failed camera initialization!");
 	}
-	return TANGO_ERROR;
+	return false;
 }
 
 void RTABMapApp::onPause()
@@ -307,6 +312,7 @@ int RTABMapApp::Render()
 		totalPoints_ = 0;
 		totalPolygons_ = 0;
 		lastDrawnCloudsCount_ = 0;
+		renderingFPS_ = 0.0f;
 	}
 
 	// Process events
@@ -543,7 +549,9 @@ int RTABMapApp::Render()
 		}
 	}
 
+	UTimer fpsTime;
     lastDrawnCloudsCount_ = main_scene_.Render();
+    renderingFPS_ = 1.0/fpsTime.elapsed();
 
     if(rtabmapEvents.size())
     {
@@ -647,10 +655,7 @@ void RTABMapApp::setAutoExposure(bool enabled)
 		autoExposure_ = enabled;
 		if(camera_)
 		{
-			camera_->join(true);
-			camera_->close();
 			camera_->setAutoExposure(autoExposure_);
-			onResume();
 		}
 	}
 }
@@ -1104,7 +1109,7 @@ void RTABMapApp::handleEvent(UEvent * event)
 				jclass clazz = env->GetObjectClass(RTABMapActivity);
 				if(clazz)
 				{
-					jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFII)V" );
+					jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFIFI)V" );
 					if(methodID)
 					{
 						env->CallVoidMethod(RTABMapActivity, methodID,
@@ -1120,6 +1125,7 @@ void RTABMapApp::handleEvent(UEvent * event)
 								featuresExtracted,
 								hypothesis,
 								lastDrawnCloudsCount_,
+								renderingFPS_,
 								rejected);
 						success = true;
 					}

app/android/jni/RTABMapApp.h

@@ -50,14 +50,11 @@ class RTABMapApp : public UEventsHandler {
   RTABMapApp();
   ~RTABMapApp();
 
-  // Initialize the Tango Service, this function starts the communication
-  // between the application and the Tango Service.
-  // The activity object is used for checking if the API version is outdated.
-  int TangoInitialize(JNIEnv* env, jobject caller_activity);
+  void onCreate(JNIEnv* env, jobject caller_activity);
 
   void openDatabase(const std::string & databasePath);
 
-  int onResume();
+  bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);
 
   // Explicitly reset motion tracking and restart the pipeline.
   // Note that this will cause motion tracking to re-initialize.
@@ -163,6 +160,7 @@ class RTABMapApp : public UEventsHandler {
   int totalPoints_;
   int totalPolygons_;
   int lastDrawnCloudsCount_;
+  float renderingFPS_;
 
   // main_scene_ includes all drawable object for visualizing Tango device's
   // movement and point cloud.

app/android/jni/jni_interface.cpp

@@ -48,11 +48,11 @@ void GetJStringContent(JNIEnv *AEnv, jstring AStr, std::string &ARes) {
   AEnv->ReleaseStringUTFChars(AStr,s);
 }
 
-JNIEXPORT jint JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_initialize(
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onCreate(
     JNIEnv* env, jobject, jobject activity)
 {
-	return app.TangoInitialize(env, activity);
+	return app.onCreate(env, activity);
 }
 
 JNIEXPORT void JNICALL
@@ -64,10 +64,10 @@ Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
 	return app.openDatabase(databasePathC);
 }
 
-JNIEXPORT jint JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_onResume(
-    JNIEnv*, jobject) {
-  return app.onResume();
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onTangoServiceConnected(
+		JNIEnv* env, jobject, jobject iBinder) {
+  return app.onTangoServiceConnected(env, iBinder);
 }
 
 JNIEXPORT void JNICALL

app/android/res/layout/activity_rtabmap.xml

@@ -219,6 +219,21 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content" />
         </LinearLayout>
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal" >
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="@string/fps" />
+
+            <TextView
+                android:id="@+id/fps"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content" />
+        </LinearLayout>
            
     </LinearLayout>
 

app/android/res/values/strings.xml

@@ -20,5 +20,6 @@
     <string name="polygons">"Polygons: "</string>
     <string name="memory">"Memory (MB): "</string>
     <string name="hypothesis">"Hypothesis: "</string>
+    <string name="fps">"FPS (rendering): "</string>
     
 </resources>

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -9,8 +9,10 @@ import android.app.Notification;
 import android.app.NotificationManager;
 import android.app.PendingIntent;
 import android.app.ProgressDialog;
+import android.content.ComponentName;
 import android.content.DialogInterface;
 import android.content.Intent;
+import android.content.ServiceConnection;
 import android.content.pm.PackageInfo;
 import android.content.pm.PackageManager;
 import android.content.pm.PackageManager.NameNotFoundException;
@@ -20,6 +22,7 @@ import android.os.Bundle;
 import android.os.Environment;
 import android.os.Handler;
 import android.os.Debug;
+import android.os.IBinder;
 import android.text.Editable;
 import android.text.InputType;
 import android.util.Log;
@@ -99,6 +102,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
   
   private Toast mToast = null;
   
+  //Tango Service connection.
+  ServiceConnection mTangoServiceConnection = new ServiceConnection() {
+     public void onServiceConnected(ComponentName name, IBinder service) {
+       if(!RTABMapLib.onTangoServiceConnected(service))
+       {
+    	   mToast.makeText(getApplicationContext(), 
+    				String.format("Failed to intialize Tango!"), mToast.LENGTH_SHORT).show();
+       }
+     }
+
+     public void onServiceDisconnected(ComponentName name) {
+       // Handle this if you need to gracefully shutdown/retry
+       // in the event that Tango itself crashes/gets upgraded while running.
+       mToast.makeText(getApplicationContext(), 
+ 				String.format("Tango disconnected!"), mToast.LENGTH_SHORT).show();
+     }
+   };
+  
   @Override
   protected void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
@@ -172,7 +193,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 						Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
     }
     
-    RTABMapLib.initialize(this);
+    RTABMapLib.onCreate(this);
     RTABMapLib.openDatabase(mTempDatabasePath);
   }
   
@@ -193,6 +214,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
   protected void onResume() {
     super.onResume();
     
+    TangoInitializationHelper.bindTangoService(this, mTangoServiceConnection);
+    
     Log.i(TAG, String.format("onResume()"));
     
     if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
@@ -209,12 +232,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
     		mItemPostProcessing.setEnabled(false);
         }
 
-        if(RTABMapLib.onResume()!=0)
-        {
-        	mToast.makeText(getApplicationContext(), 
-    				String.format("Failed to connect with Tango!"), mToast.LENGTH_SHORT).show();
-        }
-
     } else {
     	Log.i(TAG, String.format("Asking for motion tracking permission"));
         startActivityForResult(
@@ -232,6 +249,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
     RTABMapLib.onPause();
     mOpenedDatabasePath = "";
     RTABMapLib.openDatabase(mTempDatabasePath);
+    
+    unbindService(mTangoServiceConnection);
   }
 
   @Override
@@ -318,6 +337,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		  int featuresExtracted,
 		  float hypothesis,
 		  int nodesDrawn,
+		  float fps,
 		  int rejected)
   {
 	  if(mItemPause!=null)
@@ -335,6 +355,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	  ((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeaturesValues[mParamMaxFeaturesIndex]));
 	  ((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThrValues[mParamTimeThrMsIndex]));
 	  ((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThrValues[mParamLoopThrMsIndex], loopClosureId>0?loopClosureId:highestHypId));
+	  ((TextView)findViewById(R.id.fps)).setText(String.format("%.3f Hz", fps));
 	  if(mItemPause!=null && !mItemPause.isChecked())
 	  {
 		  if(loopClosureId > 0)
@@ -367,13 +388,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		  final int features,
 		  final float hypothesis,
 		  final int nodesDrawn,
+		  final float fps,
 		  final int rejected)
   {
 	  Log.i(TAG, String.format("updateStatsCallback()"));
 
 	  runOnUiThread(new Runnable() {
 		    public void run() {
-		    	updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, rejected);
+		    	updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, fps, rejected);
 		    } 
 		});
   }
@@ -469,6 +491,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
 			((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
 			((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
+			((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
 			mTotalLoopClosures = 0;
 			((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
 			
@@ -764,6 +787,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
       {
     	  item.setChecked(!item.isChecked());
     	  RTABMapLib.setAutoExposure(item.isChecked());
+    	  
+    	  // restart Tango service
+    	  onPause();
+    	  onResume();    	  
       }
       else if(itemId == R.id.resolution)
       {
@@ -1024,6 +1051,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
     	  ((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
     	  ((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
     	  ((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
+    	  ((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
 		  mTotalLoopClosures = 0;
 		  ((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
     	  

app/android/src/com/introlab/rtabmap/RTABMapLib.java

@@ -1,6 +1,8 @@
 
 package com.introlab.rtabmap;
+import android.os.IBinder;
 import android.view.KeyEvent;
+import android.util.Log;
 
 
 // Wrapper for native library
@@ -8,19 +10,29 @@ import android.view.KeyEvent;
 public class RTABMapLib
 {
 
-    static
-    {
-      System.loadLibrary("NativeRTABMap");
+	static {
+        // This project depends on tango_client_api, so we need to make sure we load
+        // the correct library first.
+        if (TangoInitializationHelper.loadTangoSharedLibrary() ==
+                TangoInitializationHelper.ARCH_ERROR) {
+            Log.e(RTABMapActivity.class.getSimpleName(), "ERROR! Unable to load libtango_client_api.so!");
+        }
+        System.loadLibrary("NativeRTABMap");
     }
 
  // Initialize the Tango Service, this function starts the communication
     // between the application and Tango Service.
     // The activity object is used for checking if the API version is outdated.
-    public static native int initialize(RTABMapActivity activity);
+    public static native void onCreate(RTABMapActivity activity);
     
     public static native void openDatabase(String databasePath);
     
-    public static native int onResume();
+    /*
+     * Called when the Tango service is connected.
+     *
+     * @param binder The native binder object.
+     */
+    public static native boolean onTangoServiceConnected(IBinder binder);
 
     // Release all non OpenGl resources that are allocated from the program.
     public static native void onPause();

app/android/src/com/introlab/rtabmap/TangoInitializationHelper.java

@@ -0,0 +1,136 @@
+/*
+ * Copyright 2016 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ * 
+ * Copied for convenience from https://github.com/googlesamples/tango-examples-c/blob/master/cpp_example_util/app/src/main/java/com/projecttango/examples/cpp/util/TangoInitializationHelper.java
+ */
+
+package com.introlab.rtabmap;
+
+import android.content.Context;
+import android.content.Intent;
+import android.content.ServiceConnection;
+import android.os.Build;
+import android.os.IBinder;
+import android.util.Log;
+
+import java.io.File;
+
+/**
+ * Functions for simplifying the process of initializing TangoService, and function
+ * handles loading correct libtango_client_api.so.
+ */
+public class TangoInitializationHelper {
+  public static final int ARCH_ERROR = -2;
+  public static final int ARCH_FALLBACK = -1;
+  public static final int ARCH_DEFAULT = 0;
+  public static final int ARCH_ARM64 = 1;
+  public static final int ARCH_ARM32 = 2;
+  public static final int ARCH_X86_64 = 3;
+  public static final int ARCH_X86 = 4;
+
+  /**
+   * Only for apps using the C API:
+   * Initializes the underlying TangoService for native apps.
+   *
+   * @return returns false if the device doesn't have the Tango running as Android Service.
+   *     Otherwise ture.
+   */
+  public static final boolean bindTangoService(final Context context,
+                                               ServiceConnection connection) {
+    Intent intent = new Intent();
+    intent.setClassName("com.google.tango", "com.google.atap.tango.TangoService");
+
+    boolean hasJavaService = (context.getPackageManager().resolveService(intent, 0) != null);
+
+    // User doesn't have the latest packagename for TangoCore, fallback to the previous name.
+    if (!hasJavaService) {
+      intent = new Intent();
+      intent.setClassName("com.projecttango.tango", "com.google.atap.tango.TangoService");
+      hasJavaService = (context.getPackageManager().resolveService(intent, 0) != null);
+    }
+
+    // User doesn't have a Java-fied TangoCore at all; fallback to the deprecated approach
+    // of doing nothing and letting the native side auto-init to the system-service version
+    // of Tango.
+    if (!hasJavaService) {
+      return false;
+    }
+
+    return context.bindService(intent, connection, Context.BIND_AUTO_CREATE);
+  }
+
+    
+  /**
+   * Load the libtango_client_api.so library based on different Tango device setup.
+   *
+   * @return returns the loaded architecture id.
+   */
+  public static final int loadTangoSharedLibrary() {
+    int loadedSoId = ARCH_ERROR;
+    String basePath = "/data/data/com.google.tango/libfiles/";
+    if (!(new File(basePath).exists())) {
+      basePath = "/data/data/com.projecttango.tango/libfiles/";
+    }
+    Log.i("TangoInitializationHelper", "basePath: " + basePath);
+
+    try {
+      System.load(basePath + "arm64-v8a/libtango_client_api.so");
+      loadedSoId = ARCH_ARM64;
+      Log.i("TangoInitializationHelper", "Success! Using arm64-v8a/libtango_client_api.");
+    } catch (UnsatisfiedLinkError e) {
+    }
+    if (loadedSoId < ARCH_DEFAULT) {
+      try {
+        System.load(basePath + "armeabi-v7a/libtango_client_api.so");
+        loadedSoId = ARCH_ARM32;
+        Log.i("TangoInitializationHelper", "Success! Using armeabi-v7a/libtango_client_api.");
+      } catch (UnsatisfiedLinkError e) {
+      }
+    }
+    if (loadedSoId < ARCH_DEFAULT) {
+      try {
+        System.load(basePath + "x86_64/libtango_client_api.so");
+        loadedSoId = ARCH_X86_64;
+        Log.i("TangoInitializationHelper", "Success! Using x86_64/libtango_client_api.");
+      } catch (UnsatisfiedLinkError e) {
+      }
+    }
+    if (loadedSoId < ARCH_DEFAULT) {
+      try {
+        System.load(basePath + "x86/libtango_client_api.so");
+        loadedSoId = ARCH_X86;
+        Log.i("TangoInitializationHelper", "Success! Using x86/libtango_client_api.");
+      } catch (UnsatisfiedLinkError e) {
+      }
+    }
+    if (loadedSoId < ARCH_DEFAULT) {
+      try {
+        System.load(basePath + "default/libtango_client_api.so");
+        loadedSoId = ARCH_DEFAULT;
+        Log.i("TangoInitializationHelper", "Success! Using default/libtango_client_api.");
+      } catch (UnsatisfiedLinkError e) {
+      }
+    }
+    if (loadedSoId < ARCH_DEFAULT) {
+      try {
+        System.loadLibrary("tango_client_api");
+        loadedSoId = ARCH_FALLBACK;
+        Log.i("TangoInitializationHelper", "Falling back to libtango_client_api.so symlink.");
+      } catch (UnsatisfiedLinkError e) {
+      }
+    }
+    return loadedSoId;
+  }
+}

app/src/CMakeLists.txt

@@ -137,11 +137,25 @@ IF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
   # Install needed Qt plugins by copying directories from the qt installation
   # One can cull what gets copied by using 'REGEX "..." EXCLUDE'
   # Exclude debug libraries
-  INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats" 
+  IF(QT_PLUGINS_DIR)
+    INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
           DESTINATION ${plugin_dest_dir}/plugins 
           COMPONENT runtime 
           REGEX ".*d4.dll" EXCLUDE
           REGEX ".*d4.a" EXCLUDE)
+  ELSE()
+	#Qt5
+	foreach(plugin ${Qt5Gui_PLUGINS})
+		get_target_property(plugin_loc ${plugin} LOCATION)
+		get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
+		string(REPLACE "plugins" ";" loc_list ${plugin_dir})
+		list(GET loc_list 1 plugin_type)
+	    #MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
+		INSTALL(FILES ${plugin_loc}
+          DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
+          COMPONENT runtime)
+	endforeach()
+  ENDIF()
   
   # install a qt.conf file
   # this inserts some cmake code into the install script to write the file

app/src/ObjDeletionHandler.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

app/src/main.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/BayesFilter.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Camera.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -56,6 +56,7 @@ public:
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
 	virtual bool isCalibrated() const = 0;
 	virtual std::string getSerial() const = 0;
+	virtual bool odomProvided() const { return false; }
 
 	//getters
 	float getImageRate() const {return _imageRate;}
@@ -76,7 +77,7 @@ protected:
 	/**
 	 * returned rgb and depth images should be already rectified if calibration was loaded
 	 */
-	virtual SensorData captureImage() = 0;
+	virtual SensorData captureImage(CameraInfo * info = 0) = 0;
 
 	int getNextSeqID() {return ++_seq;}
 

corelib/include/rtabmap/core/CameraEvent.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/CameraInfo.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -39,22 +39,27 @@ public:
 	CameraInfo() :
 		cameraName(""),
 		id(0),
+		stamp(0.0),
 		timeCapture(0.0f),
 		timeDisparity(0.0f),
 		timeMirroring(0.0f),
 		timeImageDecimation(0.0f),
-		timeScanFromDepth(0.0f)
+		timeScanFromDepth(0.0f),
+		odomCovariance(cv::Mat::eye(6,6,CV_64FC1))
 	{
 	}
 	virtual ~CameraInfo() {}
 
 	std::string cameraName;
 	int id;
+	double stamp;
 	float timeCapture;
 	float timeDisparity;
 	float timeMirroring;
 	float timeImageDecimation;
 	float timeScanFromDepth;
+	Transform odomPose;
+	cv::Mat odomCovariance;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/CameraModel.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/CameraRGB.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -119,7 +119,7 @@ public:
 	}
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	std::string _path;
@@ -178,6 +178,7 @@ public:
 
 public:
 	CameraVideo(int usbDevice = 0,
+			bool rectifyImages = false,
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	CameraVideo(const std::string & filePath,
@@ -193,7 +194,7 @@ public:
 	const std::string & getFilePath() const {return _filePath;}
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	// File type

corelib/include/rtabmap/core/CameraRGBD.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -97,7 +97,7 @@ public:
     virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
     pcl::Grabber* interface_;
@@ -131,7 +131,7 @@ public:
 	virtual std::string getSerial() const {return "";} // unknown with OpenCV
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	bool _asus;
@@ -168,7 +168,7 @@ public:
 	void setOpenNI2StampsAndIDsUsed(bool used) {_openNI2StampsAndIDsUsed = used;}
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	openni::Device * _device;
@@ -204,7 +204,7 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	int deviceId_;
@@ -249,7 +249,7 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	int deviceId_;
@@ -291,7 +291,7 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	CameraImages cameraDepth_;

corelib/include/rtabmap/core/CameraStereo.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -39,6 +39,14 @@ namespace FlyCapture2
 class Camera;
 }
 
+namespace sl
+{
+namespace zed
+{
+class Camera;
+}
+}
+
 namespace rtabmap
 {
 
@@ -62,7 +70,7 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	DC1394Device *device_;
@@ -87,13 +95,64 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	FlyCapture2::Camera * camera_;
 	void * triclopsCtx_; // TriclopsContext
 };
 
+/////////////////////////
+// CameraStereoZED
+/////////////////////////
+class RTABMAP_EXP CameraStereoZed :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraStereoZed(
+			int deviceId,
+			int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
+			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
+			int sensingMode = 1,// 0=FULL, 1=RAW
+			int confidenceThr = 100,
+			bool computeOdometry = false,
+			float imageRate=0.0f,
+			const Transform & localTransform = Transform::getIdentity());
+	CameraStereoZed(
+			const std::string & svoFilePath,
+			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
+			int sensingMode = 1,// 0=FULL, 1=RAW
+			int confidenceThr = 100,
+			bool computeOdometry = false,
+			float imageRate=0.0f,
+			const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraStereoZed();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+	virtual bool odomProvided() const { return computeOdometry_; }
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
+	sl::zed::Camera * zed_;
+	StereoCameraModel stereoModel_;
+	CameraVideo::Source src_;
+	int usbDevice_;
+	std::string svoFilePath_;
+	int resolution_;
+	int quality_;
+	int sensingMode_;
+	int confidenceThr_;
+	bool computeOdometry_;
+	bool lost_;
+};
+
 /////////////////////////
 // CameraStereoImages
 /////////////////////////
@@ -123,7 +182,7 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	CameraImages * camera2_;
@@ -147,6 +206,11 @@ public:
 			bool rectifyImages = false,
 			float imageRate=0.0f,
 			const Transform & localTransform = Transform::getIdentity());
+	CameraStereoVideo(
+			int device,
+			bool rectifyImages = false,
+			float imageRate = 0.0f,
+			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraStereoVideo();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -154,7 +218,7 @@ public:
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage();
+	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
 	cv::VideoCapture capture_;
@@ -162,6 +226,8 @@ private:
 	bool rectifyImages_;
 	StereoCameraModel stereoModel_;
 	std::string cameraName_;
+	CameraVideo::Source src_;
+	int usbDevice_;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/CameraThread.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Compression.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/DBDriver.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -88,7 +88,7 @@ public:
 	void updateLink(const Link & link);
 
 public:
-	void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const;
+	void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
 
 public:
 	// Mutex-protected methods of abstract versions below
@@ -107,6 +107,7 @@ public:
 	int getLastDictionarySize() const; // working memory
 	int getTotalNodesSize() const;
 	int getTotalDictionarySize() const;
+	ParametersMap getLastParameters() const;
 
 	void executeNoResult(const std::string & sql) const;
 
@@ -149,6 +150,7 @@ private:
 	virtual int getLastDictionarySizeQuery() const = 0;
 	virtual int getTotalNodesSizeQuery() const = 0;
 	virtual int getTotalDictionarySizeQuery() const = 0;
+	virtual ParametersMap getLastParametersQuery() const = 0;
 
 	virtual void executeNoResultQuery(const std::string & sql) const = 0;
 

corelib/include/rtabmap/core/DBReader.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -30,11 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 
-#include <rtabmap/utilite/UThreadNode.h>
 #include <rtabmap/utilite/UTimer.h>
-#include <rtabmap/utilite/UEventsSender.h>
 #include <rtabmap/core/Transform.h>
-#include <rtabmap/core/OdometryEvent.h>
+#include <rtabmap/core/Camera.h>
 
 #include <opencv2/core/core.hpp>
 
@@ -45,34 +43,45 @@ namespace rtabmap {
 
 class DBDriver;
 
-class RTABMAP_EXP DBReader : public UThreadNode, public UEventsSender {
+class RTABMAP_EXP DBReader : public Camera {
 public:
 	DBReader(const std::string & databasePath,
-			 float frameRate = 0.0f,
+			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
 			 bool odometryIgnored = false,
 			 bool ignoreGoalDelay = false,
-			 bool goalsIgnored = false);
+			 bool goalsIgnored = false,
+			 int startIndex = 0,
+			 int cameraIndex = -1);
 	DBReader(const std::list<std::string> & databasePaths,
-			 float frameRate = 0.0f,
+			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
 			 bool odometryIgnored = false,
 			 bool ignoreGoalDelay = false,
-			 bool goalsIgnored = false);
+			 bool goalsIgnored = false,
+			 int startIndex = 0,
+			 int cameraIndex = -1);
 	virtual ~DBReader();
 
-	bool init(int startIndex=0);
-	void setFrameRate(float frameRate);
-	OdometryEvent getNextData();
+	virtual bool init(
+			const std::string & calibrationFolder = ".",
+			const std::string & cameraName = "");
+
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+	virtual bool odomProvided() const {return !_odometryIgnored;}
 
 protected:
-	virtual void mainLoopBegin();
-	virtual void mainLoop();
+	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
+	SensorData getNextData(CameraInfo * info = 0);
 
 private:
 	std::list<std::string> _paths;
-	float _frameRate; // -1 = use Database stamps, 0 = inf
 	bool _odometryIgnored;
 	bool _ignoreGoalDelay;
 	bool _goalsIgnored;
+	int _startIndex;
+	int _cameraIndex;
 
 	DBDriver * _dbDriver;
 	UTimer _timer;
@@ -80,6 +89,7 @@ private:
 	std::set<int>::iterator _currentId;
 	double _previousStamp;
 	int _previousMapID;
+	bool _calibrated;
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/EpipolarGeometry.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Features2d.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Graph.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -79,6 +79,13 @@ std::multimap<int, int>::const_iterator RTABMAP_EXP findLink(
 		int to,
 		bool checkBothWays = true);
 
+std::multimap<int, Link> RTABMAP_EXP filterLinks(
+		const std::multimap<int, Link> & links,
+		Link::Type filteredType);
+std::map<int, Link> RTABMAP_EXP filterLinks(
+		const std::map<int, Link> & links,
+		Link::Type filteredType);
+
 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
 std::map<int, Transform> RTABMAP_EXP frustumPosesFiltering(
 		const std::map<int, Transform> & poses,

corelib/include/rtabmap/core/Image.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Link.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Memory.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OctoMap.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 SRC_OCTOMAP_H_
+#define SRC_OCTOMAP_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <octomap/ColorOcTree.h>
+#include <octomap/OcTreeKey.h>
+
+#include <pcl/pcl_base.h>
+#include <pcl/point_types.h>
+
+#include <rtabmap/core/Transform.h>
+
+#include <map>
+#include <string>
+
+namespace rtabmap {
+
+class OcTreeNodeInfo
+{
+public:
+	OcTreeNodeInfo(int nodeRefId, const octomap::OcTreeKey & key, bool isObstacle) :
+		nodeRefId_(nodeRefId),
+		key_(key),
+		isObstacle_(isObstacle) {}
+	int nodeRefId_;
+	octomap::OcTreeKey key_;
+	bool isObstacle_;
+};
+
+class RTABMAP_EXP OctoMap {
+public:
+	OctoMap(float voxelSize = 0.1f);
+
+	const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
+	void addToCache(int nodeId,
+			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & ground,
+			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstacles);
+	void update(const std::map<int, Transform> & poses);
+
+	const octomap::ColorOcTree * octree() const {return octree_;}
+
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
+			unsigned int treeDepth = 0,
+			std::vector<int> * obstacleIndices = 0,
+			std::vector<int> * emptyIndices = 0) const;
+
+	cv::Mat createProjectionMap(
+			float & xMin,
+			float & yMin,
+			float & gridCellSize,
+			float minGridSize);
+
+	bool writeBinary(const std::string & path);
+
+	virtual ~OctoMap();
+	void clear();
+
+private:
+	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cache_;
+	octomap::ColorOcTree * octree_;
+	std::map<octomap::ColorOcTreeNode*, OcTreeNodeInfo> occupiedCells_;
+	std::map<int, Transform> addedNodes_;
+	octomap::KeyRay keyRay_;
+};
+
+} /* namespace rtabmap */
+
+#endif /* SRC_OCTOMAP_H_ */

corelib/include/rtabmap/core/Odometry.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -55,12 +55,14 @@ public:
 public:
 	virtual ~Odometry();
 	Transform process(SensorData & data, OdometryInfo * info = 0);
+	Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
 	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 
 	//getters
 	const Transform & getPose() const {return _pose;}
 	bool isInfoDataFilled() const {return _fillInfoData;}
 	const Transform & previousVelocityTransform() const {return previousVelocityTransform_;}
+	double previousStamp() const {return previousStamp_;}
 
 private:
 	virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
@@ -84,6 +86,7 @@ private:
 	float _kalmanProcessNoise;
 	float _kalmanMeasurementNoise;
 	int _imageDecimation;
+	bool _alignWithGround;
 	Transform _pose;
 	int _resetCurrentCount;
 	double previousStamp_;

corelib/include/rtabmap/core/OdometryEvent.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OdometryF2F.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -55,7 +55,7 @@ private:
 
 	Registration * registrationPipeline_;
 	Signature refFrame_;
-	Transform motionSinceLastKeyFrame_;
+	Transform lastKeyFramePose_;
 };
 
 }

corelib/include/rtabmap/core/OdometryF2M.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Odometry.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
+#include <pcl/pcl_base.h>
 
 namespace rtabmap {
 
@@ -57,13 +58,13 @@ private:
 	int maxNewFeatures_;
 	float scanKeyFrameThr_;
 	int scanMaximumMapSize_;
-	float scanSubstractRadius_;
+	float scanSubtractRadius_;
 	std::string fixedMapPath_;
 
 	Registration * regPipeline_;
 	Signature * map_;
 	Signature * lastFrame_;
-	std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr > scansBuffer_;
+	std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
 };
 
 }

corelib/include/rtabmap/core/OdometryInfo.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OdometryMono.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OdometryThread.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Optimizer.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OptimizerCVSBA.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OptimizerG2O.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OptimizerGTSAM.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/OptimizerTORO.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/ParamEvent.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Parameters.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -172,9 +172,9 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Rtabmap, PublishLastSignature, 	     bool, true, "Publishing last signature.");
 	RTABMAP_PARAM(Rtabmap, PublishPdf, 	                 bool, true, "Publishing pdf.");
 	RTABMAP_PARAM(Rtabmap, PublishLikelihood, 	         bool, true, "Publishing likelihood.");
-	RTABMAP_PARAM(Rtabmap, TimeThr, 		             float, 0.0, "Maximum time allowed for the detector (ms) (0 means infinity).");
+	RTABMAP_PARAM(Rtabmap, TimeThr, 		             float, 0,   "Maximum time allowed for the detector (ms) (0 means infinity).");
 	RTABMAP_PARAM(Rtabmap, MemoryThr, 		             int, 0, 	 "Maximum signatures in the Working Memory (ms) (0 means infinity).");
-	RTABMAP_PARAM(Rtabmap, DetectionRate,                float, 1.0, "Detection rate. RTAB-Map will filter input images to satisfy this rate.");
+	RTABMAP_PARAM(Rtabmap, DetectionRate,                float, 1,   "Detection rate. RTAB-Map will filter input images to satisfy this rate.");
 	RTABMAP_PARAM(Rtabmap, ImageBufferSize,              unsigned int, 1, "Data buffer size (0 min inf).");
 	RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes,      bool, false, "Create intermediate nodes between loop closure detection. Only used when Rtabmap/DetectionRate>0.");
 	RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory,         "", "Working directory.");
@@ -186,7 +186,7 @@ class RTABMAP_EXP Parameters
 
 	// Hypotheses selection
 	RTABMAP_PARAM(Rtabmap, LoopThr,    	     float, 0.11, 	"Loop closing threshold.");
-	RTABMAP_PARAM(Rtabmap, LoopRatio,    	 float, 0.0, 	"The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
+	RTABMAP_PARAM(Rtabmap, LoopRatio,    	 float, 0, 	    "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
 
 	// Memory
 	RTABMAP_PARAM(Mem, RehearsalSimilarity,     float, 0.6, 	"Rehearsal similarity.");
@@ -194,7 +194,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Mem, BinDataKept, 		    bool, true, 	"Keep binary data in db.");
 	RTABMAP_PARAM(Mem, RawDescriptorsKept, 		bool, true, 	"Raw descriptors kept in memory.");
 	RTABMAP_PARAM(Mem, MapLabelsAdded, 		    bool, true, 	"Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
-	RTABMAP_PARAM(Mem, SaveDepth16Format, 		bool, true, 	"Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
+	RTABMAP_PARAM(Mem, SaveDepth16Format, 		bool, false, 	"Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
 	RTABMAP_PARAM(Mem, NotLinkedNodesKept, 	    bool, true, 	"Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
 	RTABMAP_PARAM(Mem, STMSize, 		        unsigned int, 10, "Short-term memory size.");
 	RTABMAP_PARAM(Mem, IncrementalMemory,       bool, true, 	"SLAM mode, otherwise it is Localization mode.");
@@ -215,15 +215,15 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Kp, NNStrategy,            int, 1,            "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
 	RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, 		"");
 	RTABMAP_PARAM(Kp, IncrementalFlann,      bool, true, 		"When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size).");
-	RTABMAP_PARAM(Kp, MaxDepth,              float, 0.0, 		"Filter extracted keypoints by depth (0=inf).");
-	RTABMAP_PARAM(Kp, MinDepth,              float, 0.0, 		"Filter extracted keypoints by depth.");
+	RTABMAP_PARAM(Kp, MaxDepth,              float, 0,   		"Filter extracted keypoints by depth (0=inf).");
+	RTABMAP_PARAM(Kp, MinDepth,              float, 0,  		"Filter extracted keypoints by depth.");
 	RTABMAP_PARAM(Kp, MaxFeatures,           int, 400, 			"Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
 	RTABMAP_PARAM(Kp, BadSignRatio,          float, 0.5, 		"Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
 	RTABMAP_PARAM(Kp, NndrRatio, 	         float, 0.8,		"NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
 #ifdef RTABMAP_NONFREE
-	RTABMAP_PARAM(Kp, DetectorStrategy,      int, 0,            "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
+	RTABMAP_PARAM(Kp, DetectorStrategy,      int, 0,            "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
 #else
-	RTABMAP_PARAM(Kp, DetectorStrategy,      int, 2,            "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
+	RTABMAP_PARAM(Kp, DetectorStrategy,      int, 2,            "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
 #endif
 	RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed,   bool, true, 		"Use of the td-idf strategy to compute the likelihood.");
 	RTABMAP_PARAM(Kp, Parallelized,          bool, true, 		"If the dictionary update and signature creation were parallelized.");
@@ -243,7 +243,7 @@ class RTABMAP_EXP Parameters
 
 	// Keypoints descriptors/detectors
 	RTABMAP_PARAM(SURF, Extended, 		  bool, false, 	    "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
-	RTABMAP_PARAM(SURF, HessianThreshold, float, 500.0,		"Threshold for hessian keypoint detector used in SURF.");
+	RTABMAP_PARAM(SURF, HessianThreshold, float, 500,		"Threshold for hessian keypoint detector used in SURF.");
 	RTABMAP_PARAM(SURF, Octaves, 		  int, 4, 			"Number of pyramid octaves the keypoint detector will use.");
 	RTABMAP_PARAM(SURF, OctaveLayers, 	  int, 2, 			"Number of octave layers within each octave.");
 	RTABMAP_PARAM(SURF, Upright, 	      bool, false, 	"Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
@@ -253,7 +253,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(SIFT, NFeatures,          int, 0,			"The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast).");
 	RTABMAP_PARAM(SIFT, NOctaveLayers,      int, 3, 		"The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.");
 	RTABMAP_PARAM(SIFT, ContrastThreshold, 	double, 0.04, 	"The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.");
-	RTABMAP_PARAM(SIFT, EdgeThreshold,      double, 10.0, 	"The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
+	RTABMAP_PARAM(SIFT, EdgeThreshold,      double, 10, 	"The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
 	RTABMAP_PARAM(SIFT, Sigma,              double, 1.6, 	"The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
 
 	RTABMAP_PARAM(BRIEF, Bytes,         	   int, 32, 	"Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
@@ -284,12 +284,12 @@ class RTABMAP_EXP Parameters
 
 	RTABMAP_PARAM(FREAK, OrientationNormalized, bool, true,   "Enable orientation normalization.");
 	RTABMAP_PARAM(FREAK, ScaleNormalized,       bool, true,   "Enable scale normalization.");
-	RTABMAP_PARAM(FREAK, PatternScale,          float, 22.0,  "Scaling of the description pattern.");
+	RTABMAP_PARAM(FREAK, PatternScale,          float, 22,    "Scaling of the description pattern.");
 	RTABMAP_PARAM(FREAK, NOctaves,              int, 4,        "Number of octaves covered by the detected keypoints.");
 
 	RTABMAP_PARAM(BRISK, Thresh,                int, 30,      "FAST/AGAST detection threshold score.");
 	RTABMAP_PARAM(BRISK, Octaves,               int, 3,       "Detection octaves. Use 0 to do single scale.");
-	RTABMAP_PARAM(BRISK, PatternScale,          float, 1.0,  "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
+	RTABMAP_PARAM(BRISK, PatternScale,          float, 1,    "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
 
 	// BayesFilter
 	RTABMAP_PARAM(Bayes, VirtualPlacePriorThr,           float, 0.9, "Virtual place prior");
@@ -298,7 +298,7 @@ class RTABMAP_EXP Parameters
 
 	// Verify hypotheses
 	RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, 		"Minimum of matching visual words pairs to accept the loop hypothesis.");
-	RTABMAP_PARAM(VhEp, RansacParam1,  float, 3.0, 	"Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
+	RTABMAP_PARAM(VhEp, RansacParam1,  float, 3, 	"Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
 	RTABMAP_PARAM(VhEp, RansacParam2,  float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of the RANSAC.");
 
 	// RGB-D SLAM
@@ -307,11 +307,11 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(RGBD, AngularUpdate,            float, 0.1,  "Minimum angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
 	RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0,    "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
 	RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd,     bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
-	RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 1.0,  "Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"Optimizer/Robust\" if enabled.");
+	RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 1,    "Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"Optimizer/Robust\" if enabled.");
 	RTABMAP_PARAM(RGBD, GoalReachedRadius,        float, 0.5,  "Goal reached radius (m).");
 	RTABMAP_PARAM(RGBD, PlanStuckIterations,      int, 0,      "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
-	RTABMAP_PARAM(RGBD, PlanLinearVelocity,       float, 0.0,  "Linear velocity (m/sec) used to compute path weights.");
-	RTABMAP_PARAM(RGBD, PlanAngularVelocity,      float, 0.0,  "Angular velocity (rad/sec) used to compute path weights.");
+	RTABMAP_PARAM(RGBD, PlanLinearVelocity,       float, 0,    "Linear velocity (m/sec) used to compute path weights.");
+	RTABMAP_PARAM(RGBD, PlanAngularVelocity,      float, 0,    "Angular velocity (rad/sec) used to compute path weights.");
 	RTABMAP_PARAM(RGBD, GoalsSavedInUserData,     bool, false, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
 	RTABMAP_PARAM(RGBD, MaxLocalRetrieved,        unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
 	RTABMAP_PARAM(RGBD, LocalRadius,              float, 10,   "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
@@ -323,11 +323,10 @@ class RTABMAP_EXP Parameters
 	// Local/Proximity loop closure detection
 	RTABMAP_PARAM(RGBD, ProximityByTime,              bool, false, 	"Detection over all locations in STM.");
 	RTABMAP_PARAM(RGBD, ProximityBySpace,             bool, true, 	"Detection over locations (in Working Memory or STM) near in space.");
-	RTABMAP_PARAM(RGBD, ProximityPathScansMerged,     bool, true, 	"Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP.");
 	RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth,       int, 50,      "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
 	RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5,   "Path filtering radius.");
 	RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed,    bool, true,   "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
-	RTABMAP_PARAM(RGBD, ProximityAngle,               float, 45.0,  "Maximum angle (degrees) for visual proximity detection.");
+	RTABMAP_PARAM(RGBD, ProximityAngle,               float, 45,    "Maximum angle (degrees) for visual proximity detection.");
 
 	// Graph optimization
 #ifdef RTABMAP_GTSAM
@@ -347,7 +346,7 @@ class RTABMAP_EXP Parameters
 
 	RTABMAP_PARAM(g2o, Solver,                  int, 0,          "0=csparse 1=pcg 2=cholmod");
 	RTABMAP_PARAM(g2o, Optimizer,               int, 0,          "0=Levenberg 1=GaussNewton");
-	RTABMAP_PARAM(g2o, PixelVariance,           double, 1.0,     "Pixel variance used for SBA.");
+	RTABMAP_PARAM(g2o, PixelVariance,           double, 1,       "Pixel variance used for SBA.");
 
 	// Odometry
 	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F)");
@@ -367,12 +366,13 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Odom, KeyFrameThr,            float, 0.3,       "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
 	RTABMAP_PARAM(Odom, ScanKeyFrameThr,        float, 0.7,       "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
 	RTABMAP_PARAM(Odom, ImageDecimation,        int, 1,           "Decimation of the images before registration.");
+	RTABMAP_PARAM(Odom, AlignWithGround,        bool, false,      "Align odometry with the ground on initialization.");
 
 	// Odometry Bag-of-words
 	RTABMAP_PARAM(OdomF2M, MaxSize,             int, 2000,    "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
 	RTABMAP_PARAM(OdomF2M, MaxNewFeatures,      int, 0,       "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
 	RTABMAP_PARAM(OdomF2M, ScanMaxSize,         int, 2000,    "[Geometry] Maximum local scan map size.");
-	RTABMAP_PARAM(OdomF2M, ScanSubstractRadius, float, 0.05,  "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
+	RTABMAP_PARAM(OdomF2M, ScanSubtractRadius,  float, 0.05,  "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
 	RTABMAP_PARAM_STR(OdomF2M, FixedMapPath,    "",           "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
 
 	// Odometry Mono
@@ -391,16 +391,26 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Vis, ForwardEstOnly,           bool, true, 	"Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
 	RTABMAP_PARAM(Vis, InlierDistance,           float, 0.1,    "[Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.");
 	RTABMAP_PARAM(Vis, RefineIterations,         int, 5,        "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
-	RTABMAP_PARAM(Vis, PnPReprojError, 	         float, 2.0,    "[Vis/EstimationType = 1] PnP reprojection error.");
+	RTABMAP_PARAM(Vis, PnPReprojError, 	         float, 2,      "[Vis/EstimationType = 1] PnP reprojection error.");
 	RTABMAP_PARAM(Vis, PnPFlags,                 int, 1,        "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
 	RTABMAP_PARAM(Vis, PnPRefineIterations,      int, 1,        "[Vis/EstimationType = 1] Refine iterations.");
 	RTABMAP_PARAM(Vis, EpipolarGeometryVar,      float, 0.02,   "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.");
 	RTABMAP_PARAM(Vis, MinInliers,               int, 20, 		"Minimum feature correspondences to compute/accept the transformation.");
 	RTABMAP_PARAM(Vis, Iterations,               int, 100, 		"Maximum iterations to compute the transform.");
-	RTABMAP_PARAM(Vis, FeatureType,              int, 6,        "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
+#ifndef RTABMAP_NONFREE
+#ifdef RTABMAP_OPENCV3
+	// OpenCV 3 without xFeatures2D module doesn't have BRIEF
+	RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
+#else
+	RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
+#endif
+#else
+	RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
+#endif
+	
 	RTABMAP_PARAM(Vis, MaxFeatures,              int, 1000,     "0 no limits.");
-	RTABMAP_PARAM(Vis, MaxDepth, 	             float, 0.0,    "Max depth of the features (0 means no limit).");
-	RTABMAP_PARAM(Vis, MinDepth, 	             float, 0.0,    "Min depth of the features (0 means no limit).");
+	RTABMAP_PARAM(Vis, MaxDepth, 	             float, 0,      "Max depth of the features (0 means no limit).");
+	RTABMAP_PARAM(Vis, MinDepth, 	             float, 0,      "Min depth of the features (0 means no limit).");
 	RTABMAP_PARAM_STR(Vis, RoiRatios,        "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
     RTABMAP_PARAM(Vis, SubPixWinSize,            int, 3,        "See cv::cornerSubPix().");
 	RTABMAP_PARAM(Vis, SubPixIterations,         int, 0,        "See cv::cornerSubPix(). 0 disables sub pixel refining.");
@@ -421,7 +431,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Icp, DownsamplingStep,          int, 1, 	    "Downsampling step size (1=no sampling). This is done before uniform sampling.");
 	RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05,  "Max distance for point correspondences.");
 	RTABMAP_PARAM(Icp, Iterations,                int, 30, 		"Max iterations.");
-	RTABMAP_PARAM(Icp, Epsilon,                   float, 0.0,   "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
+	RTABMAP_PARAM(Icp, Epsilon,                   float, 0,     "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
 	RTABMAP_PARAM(Icp, CorrespondenceRatio,       float, 0.2,   "Ratio of matching correspondences to accept the transform.");
 	RTABMAP_PARAM(Icp, PointToPlane,              bool, false, 	"Use point to plane ICP.");
 	RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20,    "Number of neighbors to compute normals for point to plane.");
@@ -432,7 +442,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Stereo, Iterations,            int, 30,       "Maximum iterations.");
 	RTABMAP_PARAM(Stereo, MaxLevel,              int, 3,        "Maximum pyramid level.");
 	RTABMAP_PARAM(Stereo, MinDisparity,          int, 1,        "Minimum disparity.");
-	RTABMAP_PARAM(Stereo, MaxDisparity,          int, 64,       "Maximum disparity.");
+	RTABMAP_PARAM(Stereo, MaxDisparity,          int, 128,      "Maximum disparity.");
 	RTABMAP_PARAM(Stereo, OpticalFlow,           bool, true,    "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
 	RTABMAP_PARAM(Stereo, SSD,                   bool, true,    "[Stereo/OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.");
 	RTABMAP_PARAM(Stereo, Eps,                   double, 0.01,  "[Stereo/OpticalFlow = true] Epsilon stop criterion.");
@@ -485,6 +495,9 @@ public:
 	static std::string getVersion();
 	static std::string getDefaultDatabaseName();
 	
+	static std::string serialize(const ParametersMap & parameters);
+	static ParametersMap deserialize(const std::string & parameters);
+
 	static bool isFeatureParameter(const std::string & param);
 	static ParametersMap getDefaultOdometryParameters(bool stereo = false);
 	static ParametersMap getDefaultParameters(const std::string & group);

corelib/include/rtabmap/core/ParticleFilter.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2015, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Registration.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/RegistrationIcp.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/RegistrationInfo.h

@@ -1,9 +1,29 @@
 /*
- * RegistrationInfo.h
- *
- *  Created on: Jan 5, 2016
- *      Author: mathieu
- */
+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 REGISTRATIONINFO_H_
 #define REGISTRATIONINFO_H_
@@ -18,7 +38,9 @@ public:
 		variance(0),
 		inliers(0),
 		matches(0),
-		icpInliersRatio(0)
+		icpInliersRatio(0),
+		icpTranslation(0.0f),
+		icpRotation(0.0f)
 	{
 	}
 
@@ -33,6 +55,8 @@ public:
 
 	// RegistrationIcp
 	float icpInliersRatio;
+	float icpTranslation;
+	float icpRotation;
 };
 
 }

corelib/include/rtabmap/core/RegistrationVis.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Rtabmap.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -70,6 +70,7 @@ public:
 	void close(bool databaseSaved = true);
 
 	const std::string & getWorkingDir() const {return _wDir;}
+	bool isRGBDMode() const { return _rgbdSlamMode; }
 	int getLoopClosureId() const {return _loopClosureHypothesis.first;}
 	float getLoopClosureValue() const {return _loopClosureHypothesis.second;}
 	int getHighestHypothesisId() const {return _highestHypothesis.first;}
@@ -196,7 +197,6 @@ private:
 	int _proximityMaxGraphDepth;
 	float _proximityFilteringRadius;
 	bool _proximityRawPosesUsed;
-	bool _proximityScansMerged;
 	float _proximityAngle;
 	std::string _databasePath;
 	bool _optimizeFromGraphEnd;
@@ -246,6 +246,7 @@ private:
 	unsigned int _pathGoalIndex;
 	Transform _pathTransformToGoal;
 	int _pathStuckCount;
+	float _pathStuckDistance;
 
 };
 

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/RtabmapExp.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/RtabmapThread.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/SensorData.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -194,6 +194,8 @@ public:
 	void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
 	const Transform & groundTruth() const {return groundTruth_;}
 
+	long getMemoryUsed() const; // Return memory usage in Bytes
+
 private:
 	int _id;
 	double _stamp;

corelib/include/rtabmap/core/Signature.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Statistics.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -145,6 +145,7 @@ public:
 	void setRefImageId(int refImageId) {_refImageId = refImageId;}
 	void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
 	void setProximityDetectionId(int id) {_proximiyDetectionId = id;}
+	void setStamp(double stamp) {_stamp = stamp;}
 
 	void setSignatures(const std::map<int, Signature> & signatures) {_signatures = signatures;}
 
@@ -165,6 +166,7 @@ public:
 	int refImageId() const {return _refImageId;}
 	int loopClosureId() const {return _loopClosureId;}
 	int proximityDetectionId() const {return _proximiyDetectionId;}
+	double stamp() const {return _stamp;}
 
 	const std::map<int, Signature> & getSignatures() const {return _signatures;}
 
@@ -188,6 +190,7 @@ private:
 	int _refImageId;
 	int _loopClosureId;
 	int _proximiyDetectionId;
+	double _stamp;
 
 	std::map<int, Signature> _signatures;
 

corelib/include/rtabmap/core/Stereo.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/StereoCameraModel.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/StereoDense.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/Transform.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/UserDataEvent.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/VWDictionary.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/VisualWord.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/impl/util3d_mapping.hpp

@@ -1,9 +1,29 @@
 /*
- * util3d_mapping.hpp
- *
- *  Created on: 2015-05-13
- *      Author: mathieu
- */
+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 UTIL3D_MAPPING_HPP_
 #define UTIL3D_MAPPING_HPP_
@@ -17,6 +37,19 @@
 namespace rtabmap{
 namespace util3d{
 
+template<typename PointT>
+typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
+		const typename pcl::PointCloud<PointT> & cloud)
+{
+	typename pcl::PointCloud<PointT>::Ptr output(new pcl::PointCloud<PointT>);
+	*output = cloud;
+	for(unsigned int i=0; i<output->size(); ++i)
+	{
+		output->at(i).z = 0;
+	}
+	return output;
+}
+
 template<typename PointT>
 void segmentObstaclesFromGround(
 		const typename pcl::PointCloud<PointT>::Ptr & cloud,
@@ -28,10 +61,16 @@ void segmentObstaclesFromGround(
 		float clusterRadius,
 		int minClusterSize,
 		bool segmentFlatObstacles,
-		float maxGroundHeight)
+		float maxGroundHeight,
+		pcl::IndicesPtr * flatObstacles,
+		const Eigen::Vector4f & viewPoint)
 {
 	ground.reset(new std::vector<int>);
 	obstacles.reset(new std::vector<int>);
+	if(flatObstacles)
+	{
+		flatObstacles->reset(new std::vector<int>);
+	}
 
 	if(cloud->size())
 	{
@@ -42,7 +81,7 @@ void segmentObstaclesFromGround(
 				groundNormalAngle,
 				Eigen::Vector4f(0,0,1,0),
 				normalKSearch,
-				Eigen::Vector4f(0,0,100,0));
+				viewPoint);
 
 		if(segmentFlatObstacles)
 		{
@@ -71,10 +110,15 @@ void segmentObstaclesFromGround(
 						{
 							Eigen::Vector4f centroid;
 							pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
-							if(centroid[2] >= min[2] && centroid[2] <= max[2])
+							if(centroid[2] >= min[2]-0.01 &&
+							  (centroid[2] <= max[2]+0.01 || (maxGroundHeight>0 && centroid[2] <= maxGroundHeight+0.01))) // epsilon
 							{
 								ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
 							}
+							else if(flatObstacles)
+							{
+								*flatObstacles = util3d::concatenate(*flatObstacles, clusteredFlatSurfaces.at(i));
+							}
 						}
 					}
 				}
@@ -82,6 +126,10 @@ void segmentObstaclesFromGround(
 				{
 					// reject ground!
 					ground.reset(new std::vector<int>);
+					if(flatObstacles)
+					{
+						*flatObstacles = flatSurfaces;
+					}
 				}
 			}
 		}
@@ -95,15 +143,24 @@ void segmentObstaclesFromGround(
 			// Remove ground
 			pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, ground, true);
 
-			//Cluster remaining stuff (obstacles)
-			std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
-					cloud,
-					otherStuffIndices,
-					clusterRadius,
-					minClusterSize);
+			// If ground height is set, remove obstacles under it
+			if(maxGroundHeight > 0.0f)
+			{
+				otherStuffIndices = rtabmap::util3d::passThrough(cloud, otherStuffIndices, "z", maxGroundHeight, std::numeric_limits<float>::max());
+			}
 
-			// merge indices
-			obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
+			//Cluster remaining stuff (obstacles)
+			if(otherStuffIndices->size())
+			{
+				std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
+						cloud,
+						otherStuffIndices,
+						clusterRadius,
+						minClusterSize);
+
+				// merge indices
+				obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
+			}
 		}
 	}
 }
@@ -118,7 +175,9 @@ void segmentObstaclesFromGround(
 		float clusterRadius,
 		int minClusterSize,
 		bool segmentFlatObstacles,
-		float maxGroundHeight)
+		float maxGroundHeight,
+		pcl::IndicesPtr * flatObstacles,
+		const Eigen::Vector4f & viewPoint)
 {
 	pcl::IndicesPtr indices(new std::vector<int>);
 	segmentObstaclesFromGround<PointT>(
@@ -131,7 +190,82 @@ void segmentObstaclesFromGround(
 			clusterRadius,
 			minClusterSize,
 			segmentFlatObstacles,
-			maxGroundHeight);
+			maxGroundHeight,
+			flatObstacles,
+			viewPoint);
+}
+
+template<typename PointT>
+void occupancy2DFromGroundObstacles(
+		const typename pcl::PointCloud<PointT>::Ptr & cloud,
+		const pcl::IndicesPtr & groundIndices,
+		const pcl::IndicesPtr & obstaclesIndices,
+		cv::Mat & ground,
+		cv::Mat & obstacles,
+		float cellSize)
+{
+	typename pcl::PointCloud<PointT>::Ptr groundCloud(new pcl::PointCloud<PointT>);
+	typename pcl::PointCloud<PointT>::Ptr obstaclesCloud(new pcl::PointCloud<PointT>);
+
+	if(groundIndices->size())
+	{
+		pcl::copyPointCloud(*cloud, *groundIndices, *groundCloud);
+	}
+
+	if(obstaclesIndices->size())
+	{
+		pcl::copyPointCloud(*cloud, *obstaclesIndices, *obstaclesCloud);
+	}
+
+	occupancy2DFromGroundObstacles<PointT>(
+			groundCloud,
+			obstaclesCloud,
+			ground,
+			obstacles,
+			cellSize);
+}
+
+template<typename PointT>
+void occupancy2DFromGroundObstacles(
+		const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
+		const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
+		cv::Mat & ground,
+		cv::Mat & obstacles,
+		float cellSize)
+{
+	ground = cv::Mat();
+	if(groundCloud->size())
+	{
+		//project on XY plane
+		typename pcl::PointCloud<PointT>::Ptr groundCloudProjected;
+		groundCloudProjected = util3d::projectCloudOnXYPlane(*groundCloud);
+		//voxelize to grid cell size
+		groundCloudProjected = util3d::voxelize(groundCloudProjected, cellSize);
+
+		ground = cv::Mat((int)groundCloudProjected->size(), 1, CV_32FC2);
+		for(unsigned int i=0;i<groundCloudProjected->size(); ++i)
+		{
+			ground.at<cv::Vec2f>(i)[0] = groundCloudProjected->at(i).x;
+			ground.at<cv::Vec2f>(i)[1] = groundCloudProjected->at(i).y;
+		}
+	}
+
+	obstacles = cv::Mat();
+	if(obstaclesCloud->size())
+	{
+		//project on XY plane
+		typename pcl::PointCloud<PointT>::Ptr obstaclesCloudProjected;
+		obstaclesCloudProjected = util3d::projectCloudOnXYPlane(*obstaclesCloud);
+		//voxelize to grid cell size
+		obstaclesCloudProjected = util3d::voxelize(obstaclesCloudProjected, cellSize);
+
+		obstacles = cv::Mat((int)obstaclesCloudProjected->size(), 1, CV_32FC2);
+		for(unsigned int i=0;i<obstaclesCloudProjected->size(); ++i)
+		{
+			obstacles.at<cv::Vec2f>(i)[0] = obstaclesCloudProjected->at(i).x;
+			obstacles.at<cv::Vec2f>(i)[1] = obstaclesCloudProjected->at(i).y;
+		}
+	}
 }
 
 template<typename PointT>
@@ -164,48 +298,13 @@ void occupancy2DFromCloud3D(
 			segmentFlatObstacles,
 			maxGroundHeight);
 
-	pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
-	pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
-
-	if(groundIndices->size())
-	{
-		pcl::copyPointCloud(*cloud, *groundIndices, *groundCloud);
-		//project on XY plane
-		util3d::projectCloudOnXYPlane(groundCloud);
-		//voxelize to grid cell size
-		groundCloud = util3d::voxelize(groundCloud, cellSize);
-	}
-
-	if(obstaclesIndices->size())
-	{
-		pcl::copyPointCloud(*cloud, *obstaclesIndices, *obstaclesCloud);
-		//project on XY plane
-		util3d::projectCloudOnXYPlane(obstaclesCloud);
-		//voxelize to grid cell size
-		obstaclesCloud = util3d::voxelize(obstaclesCloud, cellSize);
-	}
-
-	ground = cv::Mat();
-	if(groundCloud->size())
-	{
-		ground = cv::Mat((int)groundCloud->size(), 1, CV_32FC2);
-		for(unsigned int i=0;i<groundCloud->size(); ++i)
-		{
-			ground.at<cv::Vec2f>(i)[0] = groundCloud->at(i).x;
-			ground.at<cv::Vec2f>(i)[1] = groundCloud->at(i).y;
-		}
-	}
-
-	obstacles = cv::Mat();
-	if(obstaclesCloud->size())
-	{
-		obstacles = cv::Mat((int)obstaclesCloud->size(), 1, CV_32FC2);
-		for(unsigned int i=0;i<obstaclesCloud->size(); ++i)
-		{
-			obstacles.at<cv::Vec2f>(i)[0] = obstaclesCloud->at(i).x;
-			obstacles.at<cv::Vec2f>(i)[1] = obstaclesCloud->at(i).y;
-		}
-	}
+	occupancy2DFromGroundObstacles<PointT>(
+			cloud,
+			groundIndices,
+			obstaclesIndices,
+			ground,
+			obstacles,
+			cellSize);
 }
 
 template<typename PointT>

corelib/include/rtabmap/core/util2d.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <opencv2/core/core.hpp>
 #include <rtabmap/core/Transform.h>
+#include <rtabmap/core/Parameters.h>
 
 namespace rtabmap
 {
@@ -68,7 +69,7 @@ void RTABMAP_EXP calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputA
 cv::Mat RTABMAP_EXP disparityFromStereoImages(
 		const cv::Mat & leftImage,
 		const cv::Mat & rightImage,
-		int type = CV_32FC1); // CV_32FC1 or CV_16SC1
+	    const ParametersMap & parameters = ParametersMap());
 
 cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
 		float fx, float baseline,

corelib/include/rtabmap/core/util3d.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/TextureMesh.h>
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/SensorData.h>
+#include <rtabmap/core/Parameters.h>
 #include <opencv2/core/core.hpp>
 #include <map>
 #include <list>
@@ -73,16 +74,23 @@ pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(
 		bool smoothing,
 		float maxZError = 0.02f);
 
-pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
+RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
 		const cv::Mat & imageDepth,
 		float cx, float cy,
 		float fx, float fy,
 		int decimation = 1,
 		float maxDepth = 0.0f,
 		float minDepth = 0.0f,
+		std::vector<int> * validIndices = 0), "Use cloudFromDepth with CameraModel interface.");
+pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
+		const cv::Mat & imageDepth,
+		const CameraModel & model,
+		int decimation = 1,
+		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
-pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
+RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
 		const cv::Mat & imageRgb,
 		const cv::Mat & imageDepth,
 		float cx, float cy,
@@ -90,6 +98,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
 		int decimation = 1,
 		float maxDepth = 0.0f,
 		float minDepth = 0.0f,
+		std::vector<int> * validIndices = 0), "Use cloudFromDepthRGB with CameraModel interface.");
+pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
+		const cv::Mat & imageRgb,
+		const cv::Mat & imageDepth,
+		const CameraModel & model,
+		int decimation = 1,
+		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
@@ -116,14 +132,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
 		int decimation = 1,
 		float maxDepth = 0.0f,
 		float minDepth = 0.0f,
-		std::vector<int> * validIndices = 0);
+		std::vector<int> * validIndices = 0,
+		const ParametersMap & parameters = ParametersMap());
 
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
 		const SensorData & sensorData,
 		int decimation = 1,
 		float maxDepth = 0.0f,
 		float minDepth = 0.0f,
-		std::vector<int> * validIndices = 0);
+		std::vector<int> * validIndices = 0,
+		const ParametersMap & parameters = ParametersMap());
 
 /**
  * Create an RGB cloud from the images contained in SensorData. If there is only one camera,
@@ -143,7 +161,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 		int decimation = 1,
 		float maxDepth = 0.0f,
 		float minDepth = 0.0f,
-		std::vector<int> * validIndices = 0);
+		std::vector<int> * validIndices = 0,
+		const ParametersMap & parameters = ParametersMap());
 
 pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
 					const cv::Mat & depthImage,

corelib/include/rtabmap/core/util3d_correspondences.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/util3d_features.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/util3d_filtering.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/pcl_base.h>
+#include <pcl/ModelCoefficients.h>
 
 namespace rtabmap
 {
@@ -108,6 +109,20 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP randomSampling(
 		int samples);
 
 
+pcl::IndicesPtr RTABMAP_EXP passThrough(
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		const std::string & axis,
+		float min,
+		float max,
+		bool negative = false);
+pcl::IndicesPtr RTABMAP_EXP passThrough(
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		const std::string & axis,
+		float min,
+		float max,
+		bool negative = false);
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP passThrough(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		const std::string & axis,
@@ -471,6 +486,18 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP extractIndices(
 		bool negative,
 		bool keepOrganized);
 
+pcl::IndicesPtr extractPlane(
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
+		float distanceThreshold,
+		int maxIterations = 100,
+		pcl::ModelCoefficients * coefficientsOut = 0);
+pcl::IndicesPtr extractPlane(
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		float distanceThreshold,
+		int maxIterations = 100,
+		pcl::ModelCoefficients * coefficientsOut = 0);
+
 } // namespace util3d
 } // namespace rtabmap
 

corelib/include/rtabmap/core/util3d_mapping.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -76,8 +76,9 @@ void RTABMAP_EXP rayTrace(const cv::Point2i & start,
 
 cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S);
 
-void RTABMAP_EXP projectCloudOnXYPlane(
-		pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
+template<typename PointT>
+typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
+		const typename pcl::PointCloud<PointT> & cloud);
 
 // templated methods
 template<typename PointT>
@@ -91,7 +92,9 @@ void segmentObstaclesFromGround(
 		float clusterRadius,
 		int minClusterSize,
 		bool segmentFlatObstacles = false,
-		float maxGroundHeight = 0.0f);
+		float maxGroundHeight = 0.0f,
+		pcl::IndicesPtr * flatObstacles = 0,
+		const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0));
 template<typename PointT>
 void segmentObstaclesFromGround(
 		const typename pcl::PointCloud<PointT>::Ptr & cloud,
@@ -102,7 +105,26 @@ void segmentObstaclesFromGround(
 		float clusterRadius,
 		int minClusterSize,
 		bool segmentFlatObstacles = false,
-		float maxGroundHeight = 0.0f);
+		float maxGroundHeight = 0.0f,
+		pcl::IndicesPtr * flatObstacles = 0,
+		const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0));
+
+template<typename PointT>
+void occupancy2DFromGroundObstacles(
+		const typename pcl::PointCloud<PointT>::Ptr & cloud,
+		const pcl::IndicesPtr & groundIndices,
+		const pcl::IndicesPtr & obstaclesIndices,
+		cv::Mat & ground,
+		cv::Mat & obstacles,
+		float cellSize);
+
+template<typename PointT>
+void occupancy2DFromGroundObstacles(
+		const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
+		const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
+		cv::Mat & ground,
+		cv::Mat & obstacles,
+		float cellSize);
 
 template<typename PointT>
 void occupancy2DFromCloud3D(

corelib/include/rtabmap/core/util3d_motion_estimation.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/include/rtabmap/core/util3d_registration.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -92,18 +92,6 @@ Transform RTABMAP_EXP icpPointToPlane(
 		float epsilon = 0.0f,
 		bool icp2D = false);
 
-pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP getICPReadyCloud(
-		const cv::Mat & depth,
-		float fx,
-		float fy,
-		float cx,
-		float cy,
-		int decimation,
-		double maxDepth,
-		float voxel,
-		int samples,
-		const Transform & transform = Transform::getIdentity());
-
 } // namespace util3d
 } // namespace rtabmap
 

corelib/include/rtabmap/core/util3d_surface.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -121,32 +121,39 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
 		const std::map<int, Transform> & poses,
 		const std::map<int, CameraModel> & cameraModels,
 		const std::map<int, cv::Mat> & images,
-		const std::string & tmpDirectory = ".");
+		const std::string & tmpDirectory = ".",
+		int kNormalSearch = 20); // if mesh doesn't have normals, compute them with k neighbors
 
-pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
+pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
-		int normalKSearch = 20);
-pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
+		int normalKSearch = 20,
+		const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
+pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
-		int normalKSearch = 20);
-pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
+		int normalKSearch = 20,
+		const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
+pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
-		int normalKSearch = 20);
-pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
+		int normalKSearch = 20,
+		const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
+pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
-		int normalKSearch = 20);
+		int normalKSearch = 20,
+		const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
 
-pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
+pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		float maxDepthChangeFactor = 0.02f,
-		float normalSmoothingSize = 10.0f);
-pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
+		float normalSmoothingSize = 10.0f,
+		const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
+pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
 		float maxDepthChangeFactor = 0.02f,
-		float normalSmoothingSize = 10.0f);
+		float normalSmoothingSize = 10.0f,
+		const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
 
 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,

corelib/include/rtabmap/core/util3d_transforms.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/src/BayesFilter.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/src/CMakeLists.txt

@@ -188,10 +188,17 @@ IF(G2O_FOUND)
 ENDIF(G2O_FOUND)
 
 IF(GTSAM_FOUND)
-	SET(INCLUDE_DIRS 
-		${INCLUDE_DIRS} 
-		${GTSAM_INCLUDE_DIRS}
-	)
+	IF(GTSAM_INCLUDE_DIR)
+		SET(INCLUDE_DIRS 
+			${GTSAM_INCLUDE_DIR} # place it in front to use Eigen installed by GTSAM
+			${INCLUDE_DIRS} 
+		)
+	ELSE()
+		SET(INCLUDE_DIRS 
+			${GTSAM_INCLUDE_DIRS} # cmake standard
+			${INCLUDE_DIRS} 
+		)
+	ENDIF()
 	SET(LIBRARIES
 		${LIBRARIES}
 		gtsam
@@ -209,6 +216,42 @@ IF(cvsba_FOUND)
 	)
 ENDIF(cvsba_FOUND)
 
+IF(ZED_FOUND)
+	SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${ZED_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${ZED_LIBRARIES}
+	)
+	IF(CUDA_FOUND)
+		SET(INCLUDE_DIRS
+			${INCLUDE_DIRS}
+			${CUDA_INCLUDE_DIRS}
+		)
+		SET(LIBRARIES
+			${LIBRARIES}
+			${CUDA_LIBRARIES}
+		)
+	ENDIF(CUDA_FOUND)
+ENDIF(ZED_FOUND)
+
+IF(OCTOMAP_FOUND)
+    SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${OCTOMAP_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${OCTOMAP_LIBRARIES}
+	)
+	SET(SRC_FILES
+    	${SRC_FILES}
+		OctoMap.cpp
+	)
+ENDIF(OCTOMAP_FOUND)
+
 ####################################
 # Generate resources files
 ####################################

corelib/src/Camera.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -88,7 +88,7 @@ SensorData Camera::takeImage(CameraInfo * info)
 	}
 
 	UTimer timer;
-	SensorData data  = this->captureImage();
+	SensorData data  = this->captureImage(info);
 	double captureTime = timer.ticks();
 	if(warnFrameRateTooHigh)
 	{
@@ -102,6 +102,7 @@ SensorData Camera::takeImage(CameraInfo * info)
 	if(info)
 	{
 		info->id = data.id();
+		info->stamp = data.stamp();
 		info->timeCapture = captureTime;
 	}
 	return data;

corelib/src/CameraModel.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -371,6 +371,8 @@ CameraModel CameraModel::scaled(double scale) const
 			P.at<double>(1,1) *= scale;
 			P.at<double>(0,2) *= scale;
 			P.at<double>(1,2) *= scale;
+			P.at<double>(0,3) *= scale;
+			P.at<double>(1,3) *= scale;
 		}
 		scaledModel = CameraModel(name_, cv::Size(double(imageSize_.width)*scale, double(imageSize_.height)*scale), K, D_, R_, P, localTransform_);
 	}

corelib/src/CameraRGB.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d_filtering.h>
 #include <rtabmap/core/util3d_surface.h>
 
+#include <pcl/common/io.h>
+
 #include <iostream>
 #include <fstream>
 #include <cmath>
@@ -436,7 +438,7 @@ std::vector<std::string> CameraImages::filenames() const
 	return std::vector<std::string>();
 }
 
-SensorData CameraImages::captureImage()
+SensorData CameraImages::captureImage(CameraInfo * info)
 {
 	if(syncImageRateWithStamps_ && _captureDelay>0.0)
 	{
@@ -661,7 +663,9 @@ SensorData CameraImages::captureImage()
 			}
 			if(_scanNormalsK > 0 && cloud->size())
 			{
-				pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, _scanNormalsK);
+				pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK);
+				pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
+				pcl::concatenateFields(*cloud, *normals, *cloudNormals);
 				scan = util3d::laserScanFromPointCloud(*cloudNormals);
 			}
 			else
@@ -692,10 +696,11 @@ SensorData CameraImages::captureImage()
 /////////////////////////
 CameraVideo::CameraVideo(
 		int usbDevice,
+		bool rectifyImages,
 		float imageRate,
 		const Transform & localTransform) :
 	Camera(imageRate, localTransform),
-	_rectifyImages(false),
+	_rectifyImages(rectifyImages),
 	_src(kUsbDevice),
 	_usbDevice(usbDevice)
 {
@@ -722,7 +727,7 @@ CameraVideo::~CameraVideo()
 
 bool CameraVideo::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
-	_guid.clear();
+	_guid = cameraName;
 	if(_capture.isOpened())
 	{
 		_capture.release();
@@ -750,19 +755,22 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 	}
 	else
 	{
-		unsigned int guid = (unsigned int)_capture.get(CV_CAP_PROP_GUID);
-		if(guid != 0 && guid != 0xffffffff)
+		if (_guid.empty())
 		{
-			_guid = uFormat("%08x", guid);
+			unsigned int guid = (unsigned int)_capture.get(CV_CAP_PROP_GUID);
+			if (guid != 0 && guid != 0xffffffff)
+			{
+				_guid = uFormat("%08x", guid);
+			}
 		}
 
 		// look for calibration files
-		if(!calibrationFolder.empty() && (!_guid.empty() || !cameraName.empty()))
+		if(!calibrationFolder.empty() && !_guid.empty())
 		{
-			if(!_model.load(calibrationFolder, (cameraName.empty()?_guid:cameraName)))
+			if(!_model.load(calibrationFolder, _guid))
 			{
 				UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
-						cameraName.empty()?_guid.c_str():cameraName.c_str(), calibrationFolder.c_str());
+						_guid.c_str(), calibrationFolder.c_str());
 			}
 			else
 			{
@@ -793,7 +801,7 @@ std::string CameraVideo::getSerial() const
 	return _guid;
 }
 
-SensorData CameraVideo::captureImage()
+SensorData CameraVideo::captureImage(CameraInfo * info)
 {
 	cv::Mat img;
 	if(_capture.isOpened())
@@ -805,7 +813,7 @@ SensorData CameraVideo::captureImage()
 				_model.setImageSize(img.size());
 			}
 
-			if(_model.isValidForRectification() && (_src != kVideoFile || _rectifyImages))
+			if(_model.isValidForRectification() && _rectifyImages)
 			{
 				img = _model.rectifyImage(img);
 			}

corelib/src/CameraRGBD.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -203,7 +203,7 @@ std::string CameraOpenni::getSerial() const
 	return "";
 }
 
-SensorData CameraOpenni::captureImage()
+SensorData CameraOpenni::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef HAVE_OPENNI
@@ -317,7 +317,7 @@ bool CameraOpenNICV::isCalibrated() const
 	return true;
 }
 
-SensorData CameraOpenNICV::captureImage()
+SensorData CameraOpenNICV::captureImage(CameraInfo * info)
 {
 	SensorData data;
 	if(_capture.isOpened())
@@ -671,7 +671,7 @@ std::string CameraOpenNI2::getSerial() const
 	return "";
 }
 
-SensorData CameraOpenNI2::captureImage()
+SensorData CameraOpenNI2::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef RTABMAP_OPENNI2
@@ -1033,7 +1033,7 @@ std::string CameraFreenect::getSerial() const
 	return "";
 }
 
-SensorData CameraFreenect::captureImage()
+SensorData CameraFreenect::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef RTABMAP_FREENECT
@@ -1272,9 +1272,10 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
 				const CameraModel & l = stereoModel_.left();
 				const CameraModel & r = stereoModel_.right();
 				stereoModel_ = StereoCameraModel(stereoModel_.name(),
-						depthSize, l.K(), l.D(), l.R(), depthP,
-						colorSize, r.K(), r.D(), r.R(), colorP,
+						depthSize, l.K_raw(), l.D_raw(), l.R(), depthP,
+						colorSize, r.K_raw(), r.D_raw(), r.R(), colorP,
 						stereoModel_.R(), stereoModel_.T(), stereoModel_.E(), stereoModel_.F());
+				stereoModel_.initRectificationMap();
 			}
 		}
 
@@ -1307,7 +1308,7 @@ std::string CameraFreenect2::getSerial() const
 	return "";
 }
 
-SensorData CameraFreenect2::captureImage()
+SensorData CameraFreenect2::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef RTABMAP_FREENECT2
@@ -1720,12 +1721,12 @@ std::string CameraRGBDImages::getSerial() const
 	return this->cameraModel().name();
 }
 
-SensorData CameraRGBDImages::captureImage()
+SensorData CameraRGBDImages::captureImage(CameraInfo * info)
 {
 	SensorData data;
 
 	SensorData rgb, depth;
-	rgb = CameraImages::captureImage();
+	rgb = CameraImages::captureImage(info);
 	if(!rgb.imageRaw().empty())
 	{
 		depth = cameraDepth_.takeImage();

corelib/src/CameraStereo.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -48,6 +48,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <fc2triclops.h>
 #endif
 
+#ifdef RTABMAP_ZED
+#include <zed/Camera.hpp>
+#endif
+
 namespace rtabmap
 {
 
@@ -411,7 +415,7 @@ std::string CameraStereoDC1394::getSerial() const
 	return "";
 }
 
-SensorData CameraStereoDC1394::captureImage()
+SensorData CameraStereoDC1394::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef RTABMAP_DC1394
@@ -606,7 +610,7 @@ struct ImageContainer
 } ;
 #endif
 
-SensorData CameraStereoFlyCapture2::captureImage()
+SensorData CameraStereoFlyCapture2::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef RTABMAP_FLYCAPTURE2
@@ -731,6 +735,266 @@ SensorData CameraStereoFlyCapture2::captureImage()
 	return data;
 }
 
+//
+// CameraStereoZED
+//
+bool CameraStereoZed::available()
+{
+#ifdef RTABMAP_ZED
+	return true;
+#else
+	return false;
+#endif
+}
+
+CameraStereoZed::CameraStereoZed(
+		int deviceId,
+		int resolution,
+		int quality,
+		int sensingMode,
+		int confidenceThr,
+		bool computeOdometry,
+		float imageRate,
+		const Transform & localTransform) :
+	Camera(imageRate, localTransform),
+	zed_(0),
+	src_(CameraVideo::kUsbDevice),
+	usbDevice_(deviceId),
+	svoFilePath_(""),
+	resolution_(resolution),
+	quality_(quality),
+	sensingMode_(sensingMode),
+	confidenceThr_(confidenceThr),
+	computeOdometry_(computeOdometry),
+	lost_(true)
+{
+#ifdef RTABMAP_ZED
+	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
+	UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
+	UASSERT(sensingMode_ >= sl::zed::FILL && sensingMode_ <sl::zed::LAST_SENSING_MODE);
+	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
+#endif
+}
+
+CameraStereoZed::CameraStereoZed(
+		const std::string & filePath,
+		int quality,
+		int sensingMode,
+		int confidenceThr,
+		bool computeOdometry,
+		float imageRate,
+		const Transform & localTransform) :
+	Camera(imageRate, localTransform),
+	zed_(0),
+	src_(CameraVideo::kVideoFile),
+	usbDevice_(0),
+	svoFilePath_(filePath),
+	resolution_(2),
+	quality_(quality),
+	sensingMode_(sensingMode),
+	confidenceThr_(confidenceThr),
+	computeOdometry_(computeOdometry),
+	lost_(true)
+{
+#ifdef RTABMAP_ZED
+	UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
+	UASSERT(quality_ >= sl::zed::NONE && quality_ <sl::zed::LAST_MODE);
+	UASSERT(sensingMode_ >= sl::zed::FILL && sensingMode_ <sl::zed::LAST_SENSING_MODE);
+	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
+#endif
+}
+
+CameraStereoZed::~CameraStereoZed()
+{
+#ifdef RTABMAP_ZED
+	if(zed_)
+	{
+		delete zed_;
+	}
+#endif
+}
+
+bool CameraStereoZed::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+#ifdef RTABMAP_ZED
+	if(zed_)
+	{
+		delete zed_;
+		zed_ = 0;
+	}
+	
+	lost_ = true;
+	if(src_ == CameraVideo::kVideoFile)
+	{
+		zed_ = new sl::zed::Camera(svoFilePath_); // Use in SVO playback mode
+	}
+	else
+	{
+		if(zed_->isZEDconnected())
+		{
+			zed_ = new sl::zed::Camera((sl::zed::ZEDResolution_mode)resolution_, getImageRate(), usbDevice_); // Use in Live Mode
+		}
+		else
+		{
+			UERROR("ZED camera initialization failed: ZED is not connected!");
+			return false;
+		}
+	}
+
+	//init WITH self-calibration
+	sl::zed::InitParams parameters(
+		(sl::zed::MODE)quality_, //MODE
+		sl::zed::METER,  //UNIT
+		sl::zed::IMAGE,  //COORDINATE_SYSTEM
+		false,  // verbose
+		-1,     //device
+		-1.,    //minDist
+		false,  //disableSelfCalib
+		false); //vflip
+	sl::zed::ERRCODE err = zed_->init(parameters);
+
+	// Quit if an error occurred
+	if (err != sl::zed::SUCCESS)
+	{
+		UERROR("ZED camera initialization failed: %s", sl::zed::errcode2str(err).c_str());
+		delete zed_;
+		zed_ = 0;
+		return false;
+	}
+
+	zed_->setConfidenceThreshold(confidenceThr_);
+
+	if (computeOdometry_)
+	{
+		Eigen::Matrix4f initPose;
+		initPose.setIdentity(4, 4);
+		zed_->enableTracking(initPose, false);
+	}
+
+	sl::zed::StereoParameters * stereoParams = zed_->getParameters();
+	sl::zed::resolution res = zed_->getImageSize();
+				
+	stereoModel_ = StereoCameraModel(
+		stereoParams->LeftCam.fx, 
+		stereoParams->LeftCam.fy, 
+		stereoParams->LeftCam.cx, 
+		stereoParams->LeftCam.cy, 
+		stereoParams->baseline,
+		this->getLocalTransform(),
+		cv::Size(res.width, res.height));
+
+	return true;
+#else
+	UERROR("CameraStereoZED: RTAB-Map is not built with ZED sdk support!");
+#endif
+	return false;
+}
+
+bool CameraStereoZed::isCalibrated() const
+{
+	return stereoModel_.isValidForProjection();
+}
+
+std::string CameraStereoZed::getSerial() const
+{
+#ifdef RTABMAP_ZED
+	if(zed_)
+	{
+		return uFormat("%x", zed_->getZEDSerial());
+	}
+#endif
+	return "";
+}
+
+SensorData CameraStereoZed::captureImage(CameraInfo * info)
+{
+	SensorData data;
+#ifdef RTABMAP_ZED
+	if(zed_)
+	{
+		UTimer timer;
+		bool res = zed_->grab((sl::zed::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, false);
+		while (src_ == CameraVideo::kUsbDevice && res && timer.elapsed() < 2.0)
+		{
+			// maybe there is a latency with the USB, try again in 10 ms (for the next 2 seconds)
+			uSleep(10);
+			res = zed_->grab((sl::zed::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, false);
+		}
+		if(!res)
+		{
+			// get left image
+			cv::Mat rgbaLeft = slMat2cvMat(zed_->retrieveImage(static_cast<sl::zed::SIDE> (sl::zed::STEREO_LEFT)));
+			cv::Mat left;
+			cv::cvtColor(rgbaLeft, left, cv::COLOR_BGRA2BGR);
+
+			if(quality_ > 0)
+			{
+				// get depth image
+				cv::Mat depth;
+				slMat2cvMat(zed_->retrieveMeasure(sl::zed::MEASURE::DEPTH)).copyTo(depth);
+
+				data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
+			}
+			else
+			{
+				// get right image
+				cv::Mat rgbaRight = slMat2cvMat(zed_->retrieveImage(static_cast<sl::zed::SIDE> (sl::zed::STEREO_RIGHT)));
+				cv::Mat right;
+				cv::cvtColor(rgbaRight, right, cv::COLOR_BGRA2GRAY);
+			
+				data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now());
+			}
+
+			if (computeOdometry_ && info)
+			{
+				Eigen::Matrix4f path;
+				int trackingConfidence = zed_->getTrackingConfidence();
+				if (trackingConfidence)
+				{
+					zed_->getPosition(path);
+					info->odomPose = Transform::fromEigen4f(path);
+					if (!info->odomPose.isNull())
+					{
+						//transform x->forward, y->left, z->up
+						Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
+						info->odomPose = opticalTransform * info->odomPose * opticalTransform.inverse();
+					}
+					if (lost_)
+					{
+						info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // don't know transform with previous pose
+						lost_ = false;
+						UDEBUG("Init %s (var=%f)", info->odomPose.prettyPrint().c_str(), 9999.0f);
+					}
+					else
+					{
+						info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 1.0f / float(trackingConfidence);
+						UDEBUG("Run %s (var=%f)", info->odomPose.prettyPrint().c_str(), 1.0f / float(trackingConfidence));
+					}
+				}
+				else
+				{
+					info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // lost
+					lost_ = true;
+					UWARN("ZED lost!");
+				}
+			}
+		}
+		else if(src_ == CameraVideo::kUsbDevice)
+		{
+			UERROR("CameraStereoZed: Failed to grab images after 2 seconds!");
+		}
+		else
+		{
+			UWARN("CameraStereoZed: end of stream is reached!");
+		}
+	}
+#else
+	UERROR("CameraStereoZED: RTAB-Map is not built with ZED sdk support!");
+#endif
+	return data;
+}
+
+
 //
 // CameraStereoImages
 //
@@ -860,21 +1124,21 @@ std::string CameraStereoImages::getSerial() const
 	return stereoModel_.name();
 }
 
-SensorData CameraStereoImages::captureImage()
+SensorData CameraStereoImages::captureImage(CameraInfo * info)
 {
 	SensorData data;
 
 	SensorData left, right;
-	left = CameraImages::captureImage();
+	left = CameraImages::captureImage(info);
 	if(!left.imageRaw().empty())
 	{
 		if(camera2_)
 		{
-			right = camera2_->takeImage();
+			right = camera2_->takeImage(info);
 		}
 		else
 		{
-			right = this->takeImage();
+			right = this->takeImage(info);
 		}
 
 		if(!right.imageRaw().empty())
@@ -921,7 +1185,22 @@ CameraStereoVideo::CameraStereoVideo(
 		const Transform & localTransform) :
 		Camera(imageRate, localTransform),
 		path_(path),
-		rectifyImages_(rectifyImages)
+		rectifyImages_(rectifyImages),
+		src_(CameraVideo::kVideoFile),
+		usbDevice_(0)
+{
+}
+
+CameraStereoVideo::CameraStereoVideo(
+	int device,
+	bool rectifyImages,
+	float imageRate,
+	const Transform & localTransform) :
+	Camera(imageRate, localTransform),
+	path_(""),
+	rectifyImages_(rectifyImages),
+	src_(CameraVideo::kUsbDevice),
+	usbDevice_(device)
 {
 }
 
@@ -932,29 +1211,51 @@ CameraStereoVideo::~CameraStereoVideo()
 
 bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
+	cameraName_ = cameraName;
 	if(capture_.isOpened())
 	{
 		capture_.release();
 	}
-	ULOGGER_DEBUG("Camera: filename=\"%s\"", path_.c_str());
-	capture_.open(path_.c_str());
+
+	if (src_ == CameraVideo::kUsbDevice)
+	{
+		ULOGGER_DEBUG("CameraStereoVideo: Usb device initialization on device %d", usbDevice_);
+		capture_.open(usbDevice_);
+	}
+	else if (src_ == CameraVideo::kVideoFile)
+	{
+		ULOGGER_DEBUG("CameraStereoVideo: filename=\"%s\"", path_.c_str());
+		capture_.open(path_.c_str());
+	}
+	else
+	{
+		ULOGGER_ERROR("CameraStereoVideo: Unknown source...");
+	}
 
 	if(!capture_.isOpened())
 	{
-		ULOGGER_ERROR("Camera: Failed to create a capture object!");
+		ULOGGER_ERROR("CameraStereoVideo: Failed to create a capture object!");
 		capture_.release();
 		return false;
 	}
 	else
 	{
-		// look for calibration files
-		cameraName_ = cameraName;
-		if(!calibrationFolder.empty() && !cameraName.empty())
+		if (cameraName_.empty())
 		{
-			if(!stereoModel_.load(calibrationFolder, cameraName))
+			unsigned int guid = (unsigned int)capture_.get(CV_CAP_PROP_GUID);
+			if (guid != 0 && guid != 0xffffffff)
+			{
+				cameraName_ = uFormat("%08x", guid);
+			}
+		}
+
+		// look for calibration files
+		if(!calibrationFolder.empty() && !cameraName_.empty())
+		{
+			if(!stereoModel_.load(calibrationFolder, cameraName_))
 			{
 				UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
-						cameraName.c_str(), calibrationFolder.c_str());
+					cameraName_.c_str(), calibrationFolder.c_str());
 			}
 			else
 			{
@@ -986,7 +1287,7 @@ std::string CameraStereoVideo::getSerial() const
 	return cameraName_;
 }
 
-SensorData CameraStereoVideo::captureImage()
+SensorData CameraStereoVideo::captureImage(CameraInfo * info)
 {
 	SensorData data;
 

corelib/src/CameraThread.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -177,27 +177,50 @@ void CameraThread::mainLoop()
 				pcl::IndicesPtr validIndices(new std::vector<int>);
 				pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, _scanMinDepth, validIndices.get());
 				float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
-				if(_scanVoxelSize>0.0f)
-				{
-					cloud = util3d::voxelize(cloud, validIndices, _scanVoxelSize);
-					float ratio = float(cloud->size()) / float(validIndices->size());
-					maxPoints = ratio * maxPoints;
-				}
-				else if(!cloud->is_dense)
-				{
-					pcl::PointCloud<pcl::PointXYZ>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZ>);
-					pcl::copyPointCloud(*cloud, *validIndices, *denseCloud);
-					cloud = denseCloud;
-				}
-
 				cv::Mat scan;
-				if(_scanNormalsK>0)
+				if(validIndices->size())
 				{
-					scan = util3d::laserScanFromPointCloud(*util3d::computeNormals(cloud, _scanNormalsK));
-				}
-				else
-				{
-					scan = util3d::laserScanFromPointCloud(*cloud);
+					if(_scanVoxelSize>0.0f)
+					{
+						cloud = util3d::voxelize(cloud, validIndices, _scanVoxelSize);
+						float ratio = float(cloud->size()) / float(validIndices->size());
+						maxPoints = ratio * maxPoints;
+					}
+					else if(!cloud->is_dense)
+					{
+						pcl::PointCloud<pcl::PointXYZ>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZ>);
+						pcl::copyPointCloud(*cloud, *validIndices, *denseCloud);
+						cloud = denseCloud;
+					}
+
+					if(cloud->size())
+					{
+						if(_scanNormalsK>0)
+						{
+							// view point
+							Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
+							if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
+							{
+								viewPoint[0] = data.cameraModels()[0].localTransform().x();
+								viewPoint[1] = data.cameraModels()[0].localTransform().y();
+								viewPoint[2] = data.cameraModels()[0].localTransform().z();
+							}
+							else if(!data.stereoCameraModel().localTransform().isNull())
+							{
+								viewPoint[0] = data.stereoCameraModel().localTransform().x();
+								viewPoint[1] = data.stereoCameraModel().localTransform().y();
+								viewPoint[2] = data.stereoCameraModel().localTransform().z();
+							}
+							pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK, viewPoint);
+							pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
+							pcl::concatenateFields(*cloud, *normals, *cloudNormals);
+							scan = util3d::laserScanFromPointCloud(*cloudNormals);
+						}
+						else
+						{
+							scan = util3d::laserScanFromPointCloud(*cloud);
+						}
+					}
 				}
 				data.setLaserScanRaw(scan, (int)maxPoints, _scanMaxDepth);
 				info.timeScanFromDepth = timer.ticks();

corelib/src/Compression.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/src/DBDriver.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -188,6 +188,14 @@ int DBDriver::getTotalDictionarySize() const
 	_dbSafeAccessMutex.unlock();
 	return words;
 }
+ParametersMap DBDriver::getLastParameters() const
+{
+	ParametersMap parameters;
+	_dbSafeAccessMutex.lock();
+	parameters = getLastParametersQuery();
+	_dbSafeAccessMutex.unlock();
+	return parameters;
+}
 
 std::string DBDriver::getDatabaseVersion() const
 {
@@ -834,18 +842,38 @@ void DBDriver::getAllLabels(std::map<int, std::string> & labels) const
 	_dbSafeAccessMutex.unlock();
 }
 
-void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
+void DBDriver::addStatisticsAfterRun(
+		int stMemSize,
+		int lastSignAdded,
+		int processMemUsed,
+		int databaseMemUsed,
+		int dictionarySize,
+		const ParametersMap & parameters) const
 {
 	ULOGGER_DEBUG("");
 	if(this->isConnected())
 	{
 		std::stringstream query;
-		query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size) values("
-			  << stMemSize << ","
-		      << lastSignAdded << ","
-		      << processMemUsed << ","
-		      << databaseMemUsed << ","
-			  << dictionarySize << ");";
+		if(uStrNumCmp(this->getDatabaseVersion(), "0.11.8") >= 0)
+		{
+			std::string param = Parameters::serialize(parameters);
+			query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size,parameters) values("
+				  << stMemSize << ","
+				  << lastSignAdded << ","
+				  << processMemUsed << ","
+				  << databaseMemUsed << ","
+				  << dictionarySize << ","
+				  "\"" << param.c_str() << "\");";
+		}
+		else
+		{
+			query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size) values("
+				  << stMemSize << ","
+				  << lastSignAdded << ","
+				  << processMemUsed << ","
+				  << databaseMemUsed << ","
+				  << dictionarySize << ");";
+		}
 
 		this->executeNoResultQuery(query.str());
 	}

corelib/src/DBDriverSqlite3.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -373,6 +373,15 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 	UASSERT(this->getDatabaseVersionQuery(_version)); // must be true!
 	UINFO("Database version = %s", _version.c_str());
 
+	if(uStrNumCmp(_version, RTABMAP_VERSION) > 0)
+	{
+		UERROR("Opened database version (%s) is more recent than rtabmap "
+			   "installed version (%s). Please update rtabmap to new version!",
+			   _version.c_str(), RTABMAP_VERSION);
+		this->disconnectDatabaseQuery(false);
+		return false;
+	}
+
 	//Set database optimizations
 	this->setCacheSize(_cacheSize); // this will call the SQL
 	this->setJournalMode(_journalMode); // this will call the SQL
@@ -699,6 +708,42 @@ int DBDriverSqlite3::getTotalDictionarySizeQuery() const
 	return size;
 }
 
+ParametersMap DBDriverSqlite3::getLastParametersQuery() const
+{
+	UDEBUG("");
+	ParametersMap parameters;
+	if(_ppDb)
+	{
+		if(uStrNumCmp(_version, "0.11.8") >= 0)
+		{
+			std::string query = "SELECT parameters "
+					 "FROM Statistics "
+					 "WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
+
+			int rc = SQLITE_OK;
+			sqlite3_stmt * ppStmt = 0;
+			rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+			rc = sqlite3_step(ppStmt);
+			if(rc == SQLITE_ROW)
+			{
+				std::string text((const char *)sqlite3_column_text(ppStmt, 0));
+
+				if(text.size())
+				{
+					parameters = Parameters::deserialize(text);
+				}
+
+				rc = sqlite3_step(ppStmt);
+			}
+			UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+			rc = sqlite3_finalize(ppStmt);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+	}
+	return parameters;
+}
+
 void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) const
 {
 	UDEBUG("load data for %d signatures", (int)signatures.size());
@@ -846,13 +891,39 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) con
 					if(dataSize > 0 && data)
 					{
 						float * dataFloat = (float*)data;
-						if((unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
+						if(uStrNumCmp(_version, "0.11.2") >= 0 &&
+						   (unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
+						{
+							int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
+							UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
+							int max = cameraCount*(6+localTransform.size());
+							for(int i=0; i<max; i+=6+localTransform.size())
+							{
+								// Reinitialize to a new Transform, to avoid copying in the same memory than the previous one
+								localTransform = Transform::getIdentity();
+								memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
+								models.push_back(CameraModel(
+										(double)dataFloat[i],
+										(double)dataFloat[i+1],
+										(double)dataFloat[i+2],
+										(double)dataFloat[i+3],
+										localTransform));
+								models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
+								UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
+										dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
+										localTransform.prettyPrint().c_str());
+							}
+						}
+						else if(uStrNumCmp(_version, "0.11.2") < 0 &&
+								(unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
 						{
 							int cameraCount = dataSize / ((4+localTransform.size())*sizeof(float));
 							UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
 							int max = cameraCount*(4+localTransform.size());
 							for(int i=0; i<max; i+=4+localTransform.size())
 							{
+								// Reinitialize to a new Transform, to avoid copying in the same memory than the previous one
+								localTransform = Transform::getIdentity();
 								memcpy(localTransform.data(), dataFloat+i+4, localTransform.size()*sizeof(float));
 								models.push_back(CameraModel(
 										(double)dataFloat[i],
@@ -874,26 +945,6 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) con
 									dataFloat[4], // baseline
 									localTransform);
 						}
-						else if((unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
-						{
-							int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
-							UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
-							int max = cameraCount*(6+localTransform.size());
-							for(int i=0; i<max; i+=6+localTransform.size())
-							{
-								memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
-								models.push_back(CameraModel(
-										(double)dataFloat[i],
-										(double)dataFloat[i+1],
-										(double)dataFloat[i+2],
-										(double)dataFloat[i+3],
-										localTransform));
-								models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
-								UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
-										dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
-										localTransform.prettyPrint().c_str());
-							}
-						}
 						else
 						{
 							UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
@@ -1067,13 +1118,39 @@ bool DBDriverSqlite3::getCalibrationQuery(
 				if(dataSize > 0 && data)
 				{
 					float * dataFloat = (float*)data;
-					if((unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
+					if(uStrNumCmp(_version, "0.11.2") >= 0 &&
+					  (unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
+					{
+						int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
+						UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
+						int max = cameraCount*(6+localTransform.size());
+						for(int i=0; i<max; i+=6+localTransform.size())
+						{
+							// Reinitialize to a new Transform, to avoid copying in the same memory than the previous one
+							localTransform = Transform::getIdentity();
+							memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
+							models.push_back(CameraModel(
+									(double)dataFloat[i],
+									(double)dataFloat[i+1],
+									(double)dataFloat[i+2],
+									(double)dataFloat[i+3],
+									localTransform));
+							models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
+							UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
+									dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
+									localTransform.prettyPrint().c_str());
+						}
+					}
+					else if(uStrNumCmp(_version, "0.11.2") < 0 &&
+							(unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
 					{
 						int cameraCount = dataSize / ((4+localTransform.size())*sizeof(float));
 						UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
 						int max = cameraCount*(4+localTransform.size());
 						for(int i=0; i<max; i+=4+localTransform.size())
 						{
+							// Reinitialize to a new Transform, to avoid copying in the same memory than the previous one
+							localTransform = Transform::getIdentity();
 							memcpy(localTransform.data(), dataFloat+i+4, localTransform.size()*sizeof(float));
 							models.push_back(CameraModel(
 									(double)dataFloat[i],
@@ -1095,26 +1172,6 @@ bool DBDriverSqlite3::getCalibrationQuery(
 								dataFloat[4], // baseline
 								localTransform);
 					}
-					else if((unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
-					{
-						int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
-						UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
-						int max = cameraCount*(6+localTransform.size());
-						for(int i=0; i<max; i+=6+localTransform.size())
-						{
-							memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
-							models.push_back(CameraModel(
-									(double)dataFloat[i],
-									(double)dataFloat[i+1],
-									(double)dataFloat[i+2],
-									(double)dataFloat[i+3],
-									localTransform));
-							models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
-							UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
-									dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
-									localTransform.prettyPrint().c_str());
-						}
-					}
 					else
 					{
 						UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
@@ -1861,7 +1918,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 						int index=0;
 						const void * data = 0;
 						int dataSize = 0;
-						Transform localTransform = Transform::getIdentity();
+						Transform localTransform;
 						std::vector<CameraModel> models;
 						StereoCameraModel stereoModel;
 
@@ -1874,13 +1931,39 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 						{
 							++calibrationsLoaded;
 							float * dataFloat = (float*)data;
-							if((unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
+							if(uStrNumCmp(_version, "0.11.2") >= 0 &&
+							   (unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
+							{
+								int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
+								UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
+								int max = cameraCount*(6+localTransform.size());
+								for(int i=0; i<max; i+=6+localTransform.size())
+								{
+									// Reinitialize to a new Transform, to avoid copying in the same memory than the previous one
+									localTransform = Transform::getIdentity();
+									memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
+									models.push_back(CameraModel(
+											(double)dataFloat[i],
+											(double)dataFloat[i+1],
+											(double)dataFloat[i+2],
+											(double)dataFloat[i+3],
+											localTransform));
+									models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
+									UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
+											dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
+											localTransform.prettyPrint().c_str());
+								}
+							}
+							else if(uStrNumCmp(_version, "0.11.2") < 0 &&
+									(unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
 							{
 								int cameraCount = dataSize / ((4+localTransform.size())*sizeof(float));
 								UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
 								int max = cameraCount*(4+localTransform.size());
 								for(int i=0; i<max; i+=4+localTransform.size())
 								{
+									// Reinitialize to a new Transform, to avoid copying in the same memory than the previous one
+									localTransform = Transform::getIdentity();
 									memcpy(localTransform.data(), dataFloat+i+4, localTransform.size()*sizeof(float));
 									models.push_back(CameraModel(
 											(double)dataFloat[i],
@@ -1902,26 +1985,6 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 										dataFloat[4], // baseline
 										localTransform);
 							}
-							else if((unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
-							{
-								int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
-								UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
-								int max = cameraCount*(6+localTransform.size());
-								for(int i=0; i<max; i+=6+localTransform.size())
-								{
-									memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
-									models.push_back(CameraModel(
-											(double)dataFloat[i],
-											(double)dataFloat[i+1],
-											(double)dataFloat[i+2],
-											(double)dataFloat[i+3],
-											localTransform));
-									models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
-									UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
-											dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
-											localTransform.prettyPrint().c_str());
-								}
-							}
 							else
 							{
 								UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
@@ -3180,19 +3243,37 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
 	std::vector<float> calibration;
 	// multi-cameras [fx,fy,cx,cy,width,height,local_transform, ... ,fx,fy,cx,cy,width,height,local_transform] (6+12)*float * numCameras
 	// stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float
-	if(sensorData.cameraModels().size())
-	{
-		calibration.resize(sensorData.cameraModels().size() * (6+Transform().size()));
-		for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i)
+	if(sensorData.cameraModels().size() && sensorData.cameraModels()[0].isValidForProjection())
+	{
+		if(uStrNumCmp(_version, "0.11.2") >= 0)
 		{
-			const Transform & localTransform = sensorData.cameraModels()[i].localTransform();
-			calibration[i*(6+localTransform.size())] = sensorData.cameraModels()[i].fx();
-			calibration[i*(6+localTransform.size())+1] = sensorData.cameraModels()[i].fy();
-			calibration[i*(6+localTransform.size())+2] = sensorData.cameraModels()[i].cx();
-			calibration[i*(6+localTransform.size())+3] = sensorData.cameraModels()[i].cy();
-			calibration[i*(6+localTransform.size())+4] = sensorData.cameraModels()[i].imageWidth();
-			calibration[i*(6+localTransform.size())+5] = sensorData.cameraModels()[i].imageHeight();
-			memcpy(calibration.data()+i*(6+localTransform.size())+6, localTransform.data(), localTransform.size()*sizeof(float));
+			calibration.resize(sensorData.cameraModels().size() * (6+Transform().size()));
+			for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i)
+			{
+				UASSERT(sensorData.cameraModels()[i].isValidForProjection());
+				const Transform & localTransform = sensorData.cameraModels()[i].localTransform();
+				calibration[i*(6+localTransform.size())] = sensorData.cameraModels()[i].fx();
+				calibration[i*(6+localTransform.size())+1] = sensorData.cameraModels()[i].fy();
+				calibration[i*(6+localTransform.size())+2] = sensorData.cameraModels()[i].cx();
+				calibration[i*(6+localTransform.size())+3] = sensorData.cameraModels()[i].cy();
+				calibration[i*(6+localTransform.size())+4] = sensorData.cameraModels()[i].imageWidth();
+				calibration[i*(6+localTransform.size())+5] = sensorData.cameraModels()[i].imageHeight();
+				memcpy(calibration.data()+i*(6+localTransform.size())+6, localTransform.data(), localTransform.size()*sizeof(float));
+			}
+		}
+		else
+		{
+			calibration.resize(sensorData.cameraModels().size() * (4+Transform().size()));
+			for(unsigned int i=0; i<sensorData.cameraModels().size(); ++i)
+			{
+				UASSERT(sensorData.cameraModels()[i].isValidForProjection());
+				const Transform & localTransform = sensorData.cameraModels()[i].localTransform();
+				calibration[i*(4+localTransform.size())] = sensorData.cameraModels()[i].fx();
+				calibration[i*(4+localTransform.size())+1] = sensorData.cameraModels()[i].fy();
+				calibration[i*(4+localTransform.size())+2] = sensorData.cameraModels()[i].cx();
+				calibration[i*(4+localTransform.size())+3] = sensorData.cameraModels()[i].cy();
+				memcpy(calibration.data()+i*(4+localTransform.size())+4, localTransform.data(), localTransform.size()*sizeof(float));
+			}
 		}
 	}
 	else if(sensorData.stereoCameraModel().isValidForProjection())

corelib/src/DBDriverSqlite3.h

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -62,6 +62,7 @@ private:
 	virtual int getLastDictionarySizeQuery() const;
 	virtual int getTotalNodesSizeQuery() const;
 	virtual int getTotalDictionarySizeQuery() const;
+	virtual ParametersMap getLastParametersQuery() const;
 
 	virtual void executeNoResultQuery(const std::string & sql) const;
 

corelib/src/DBReader.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/utilite/UEventsManager.h>
 
 #include "rtabmap/core/CameraEvent.h"
 #include "rtabmap/core/RtabmapEvent.h"
@@ -46,16 +47,21 @@ DBReader::DBReader(const std::string & databasePath,
 				   float frameRate,
 				   bool odometryIgnored,
 				   bool ignoreGoalDelay,
-				   bool goalsIgnored) :
+				   bool goalsIgnored,
+				   int startIndex,
+				   int cameraIndex) :
+	Camera(frameRate),
 	_paths(uSplit(databasePath, ';')),
-	_frameRate(frameRate),
 	_odometryIgnored(odometryIgnored),
 	_ignoreGoalDelay(ignoreGoalDelay),
 	_goalsIgnored(goalsIgnored),
+	_startIndex(startIndex),
+	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousStamp(0),
-	_previousMapID(0)
+	_previousMapID(0),
+	_calibrated(false)
 {
 }
 
@@ -63,16 +69,21 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 				   float frameRate,
 				   bool odometryIgnored,
 				   bool ignoreGoalDelay,
-				   bool goalsIgnored) :
+				   bool goalsIgnored,
+				   int startIndex,
+				   int cameraIndex) :
+	Camera(frameRate),
    _paths(databasePaths),
-   _frameRate(frameRate),
 	_odometryIgnored(odometryIgnored),
 	_ignoreGoalDelay(ignoreGoalDelay),
 	_goalsIgnored(goalsIgnored),
+	_startIndex(startIndex),
+	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousStamp(0),
-	_previousMapID(0)
+	_previousMapID(0),
+	_calibrated(false)
 {
 }
 
@@ -85,7 +96,9 @@ DBReader::~DBReader()
 	}
 }
 
-bool DBReader::init(int startIndex)
+bool DBReader::init(
+		const std::string & calibrationFolder,
+		const std::string & cameraName)
 {
 	if(_dbDriver)
 	{
@@ -97,6 +110,7 @@ bool DBReader::init(int startIndex)
 	_currentId=_ids.end();
 	_previousStamp = 0;
 	_previousMapID = 0;
+	_calibrated = false;
 
 	if(_paths.size() == 0)
 	{
@@ -129,12 +143,12 @@ bool DBReader::init(int startIndex)
 
 	_dbDriver->getAllNodeIds(_ids);
 	_currentId = _ids.begin();
-	if(startIndex>0 && _ids.size())
+	if(_startIndex>0 && _ids.size())
 	{
-		std::set<int>::iterator iter = uIteratorAt(_ids, startIndex);
+		std::set<int>::iterator iter = uIteratorAt(_ids, _startIndex);
 		if(iter == _ids.end())
 		{
-			UWARN("Start index is too high (%d), the last in database is %d. Starting from beginning...", startIndex, _ids.size()-1);
+			UWARN("Start index is too high (%d), the last in database is %d. Starting from beginning...", _startIndex, _ids.size()-1);
 		}
 		else
 		{
@@ -142,142 +156,139 @@ bool DBReader::init(int startIndex)
 		}
 	}
 
+	if(_ids.size())
+	{
+		std::vector<CameraModel> models;
+		StereoCameraModel stereoModel;
+		if(_dbDriver->getCalibration(*_ids.begin(), models, stereoModel))
+		{
+			if(models.size() && models.at(0).isValidForProjection())
+			{
+				_calibrated = true;
+			}
+			else if(stereoModel.isValidForProjection())
+			{
+				_calibrated = true;
+			}
+		}
+	}
+
+	_timer.start();
+
 	return true;
 }
 
-void DBReader::setFrameRate(float frameRate)
+bool DBReader::isCalibrated() const
 {
-	_frameRate = frameRate;
+	return _calibrated;
 }
 
-void DBReader::mainLoopBegin()
+std::string DBReader::getSerial() const
 {
-	_timer.start();
+	return "DBReader";
 }
 
-void DBReader::mainLoop()
+SensorData DBReader::captureImage(CameraInfo * info)
 {
-	OdometryEvent odom = this->getNextData();
-	if(odom.data().id())
-	{
-		std::string goalId;
-		double previousStamp = odom.data().stamp();
-		if(previousStamp == 0)
-		{
-			odom.data().setStamp(UTimer::now());
-		}
-
-		if(!_goalsIgnored &&
-		   odom.data().userDataRaw().type() == CV_8SC1 &&
-		   odom.data().userDataRaw().cols >= 7 && // including null str ending
-		   odom.data().userDataRaw().rows == 1 &&
-		   memcmp(odom.data().userDataRaw().data, "GOAL:", 5) == 0)
-		{
-			//GOAL format detected, remove it from the user data and send it as goal event
-			std::string goalStr = (const char *)odom.data().userDataRaw().data;
-			if(!goalStr.empty())
-			{
-				std::list<std::string> strs = uSplit(goalStr, ':');
-				if(strs.size() == 2)
-				{
-					goalId = *strs.rbegin();
-					odom.data().setUserData(cv::Mat());
-				}
-			}
-		}
-		if(!_odometryIgnored)
-		{
-			if(odom.pose().isNull())
-			{
-				UWARN("Reading the database: odometry is null! "
-					  "Please set \"Ignore odometry = true\" if there is "
-					  "no odometry in the database.");
-			}
-			this->post(new OdometryEvent(odom));
-		}
-		else
-		{
-			this->post(new CameraEvent(odom.data()));
-		}
-
-		if(!goalId.empty())
-		{
-			double delay = 0.0;
-			if(!_ignoreGoalDelay && _currentId != _ids.end())
-			{
-				// get stamp for the next signature to compute the delay
-				// that was used originally for planning
-				int weight;
-				std::string label;
-				double stamp;
-				int mapId;
-				Transform localTransform, pose, groundTruth;
-				_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth);
-				if(previousStamp && stamp && stamp > previousStamp)
-				{
-					delay = stamp - previousStamp;
-				}
-			}
-
-			if(delay > 0.0)
-			{
-				UWARN("Goal \"%s\" detected, posting it! Waiting %f seconds before sending next data...",
-					   goalId.c_str(), delay);
-			}
-			else
-			{
-				UWARN("Goal \"%s\" detected, posting it!", goalId.c_str());
-			}
-
-			if(uIsInteger(goalId))
-			{
-				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, atoi(goalId.c_str())));
-			}
-			else
-			{
-				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, goalId));
-			}
-
-			if(delay > 0.0)
-			{
-				uSleep(delay*1000);
-			}
-		}
-
-	}
-	else if(!this->isKilled())
+	SensorData data = this->getNextData(info);
+	if(data.id() == 0)
 	{
 		UINFO("no more images...");
-		if(_paths.size() > 1)
+		while(_paths.size() > 1 && data.id() == 0)
 		{
 			_paths.pop_front();
 			UWARN("Loading next database \"%s\"...", _paths.front().c_str());
 			if(!this->init())
 			{
 				UERROR("Failed to initialize the next database \"%s\"", _paths.front().c_str());
-				this->kill();
-				this->post(new CameraEvent());
+				return data;
+			}
+			else
+			{
+				data = this->getNextData(info);
 			}
 		}
-		else
+	}
+	if(data.id())
+	{
+		std::string goalId;
+		double previousStamp = data.stamp();
+		if(previousStamp == 0)
 		{
-			this->kill();
-			this->post(new CameraEvent());
+			data.setStamp(UTimer::now());
 		}
 
-	}
+		if(!_goalsIgnored &&
+		   data.userDataRaw().type() == CV_8SC1 &&
+		   data.userDataRaw().cols >= 7 && // including null str ending
+		   data.userDataRaw().rows == 1 &&
+		   memcmp(data.userDataRaw().data, "GOAL:", 5) == 0)
+		{
+			//GOAL format detected, remove it from the user data and send it as goal event
+			std::string goalStr = (const char *)data.userDataRaw().data;
+			if(!goalStr.empty())
+			{
+				std::list<std::string> strs = uSplit(goalStr, ':');
+				if(strs.size() == 2)
+				{
+					goalId = *strs.rbegin();
+					data.setUserData(cv::Mat());
 
+					double delay = 0.0;
+					if(!_ignoreGoalDelay && _currentId != _ids.end())
+					{
+						// get stamp for the next signature to compute the delay
+						// that was used originally for planning
+						int weight;
+						std::string label;
+						double stamp;
+						int mapId;
+						Transform localTransform, pose, groundTruth;
+						_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth);
+						if(previousStamp && stamp && stamp > previousStamp)
+						{
+							delay = stamp - previousStamp;
+						}
+					}
+
+					if(delay > 0.0)
+					{
+						UWARN("Goal \"%s\" detected, posting it! Waiting %f seconds before sending next data...",
+							   goalId.c_str(), delay);
+					}
+					else
+					{
+						UWARN("Goal \"%s\" detected, posting it!", goalId.c_str());
+					}
+
+					if(uIsInteger(goalId))
+					{
+						UEventsManager::post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, atoi(goalId.c_str())));
+					}
+					else
+					{
+						UEventsManager::post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, goalId));
+					}
+
+					if(delay > 0.0)
+					{
+						uSleep(delay*1000);
+					}
+				}
+			}
+		}
+	}
+	return data;
 }
 
-OdometryEvent DBReader::getNextData()
+SensorData DBReader::getNextData(CameraInfo * info)
 {
-	OdometryEvent odom;
+	SensorData data;
 	if(_dbDriver)
 	{
-		if(!this->isKilled() && _currentId != _ids.end())
+		if(_currentId != _ids.end())
 		{
 			int mapId;
-			SensorData data;
 			_dbDriver->getNodeData(*_currentId, data);
 
 			// info
@@ -312,12 +323,12 @@ OdometryEvent DBReader::getNextData()
 			}
 
 			// Frame rate
-			if(_frameRate < 0.0f)
+			if(this->getImageRate() < 0.0f)
 			{
 				if(stamp == 0)
 				{
 					UERROR("The option to use database stamps is set (framerate<0), but there are no stamps saved in the database! Aborting...");
-					this->kill();
+					return data;
 				}
 				else if(_previousMapID == mapId && _previousStamp > 0)
 				{
@@ -346,38 +357,61 @@ OdometryEvent DBReader::getNextData()
 				_previousStamp = stamp;
 				_previousMapID = mapId;
 			}
-			else if(_frameRate>0.0f)
+
+			data.uncompressData();
+			if(data.cameraModels().size() > 1 &&
+				_cameraIndex >= 0)
 			{
-				int sleepTime = (1000.0f/_frameRate - 1000.0f*_timer.getElapsedTime());
-				if(sleepTime > 2)
+				if(_cameraIndex < (int)data.cameraModels().size())
 				{
-					uSleep(sleepTime-2);
-				}
+					// select one camera
+					int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
+					UASSERT(!data.imageRaw().empty() &&
+							data.imageRaw().cols % data.cameraModels().size() == 0 &&
+							_cameraIndex*subImageWidth < data.imageRaw().cols);
+					data.setImageRaw(
+							cv::Mat(data.imageRaw(),
+							cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.imageRaw().rows)).clone());
 
-				// Add precision at the cost of a small overhead
-				while(_timer.getElapsedTime() < 1.0/double(_frameRate)-0.000001)
+					if(!data.depthOrRightRaw().empty())
+					{
+						UASSERT(data.depthOrRightRaw().cols % data.cameraModels().size() == 0 &&
+								subImageWidth == data.depthOrRightRaw().cols/(int)data.cameraModels().size() &&
+								_cameraIndex*subImageWidth < data.depthOrRightRaw().cols);
+						data.setDepthOrRightRaw(
+								cv::Mat(data.depthOrRightRaw(),
+								cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows)).clone());
+					}
+					CameraModel model = data.cameraModels().at(_cameraIndex);
+					data.setCameraModel(model);
+				}
+				else
 				{
-					//
+					UWARN("DBReader: Camera index %d doesn't exist! Camera models = %d.", _cameraIndex, (int)data.cameraModels().size());
 				}
-
-				double slept = _timer.getElapsedTime();
-				_timer.start();
-				UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(_frameRate));
 			}
+			data.setId(seq);
+			data.setStamp(stamp);
+			data.setGroundTruth(groundTruth);
+			UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, UserData=%d",
+					data.laserScanRaw().empty()?0:1,
+					data.imageRaw().empty()?0:1,
+					data.depthOrRightRaw().empty()?0:1,
+					data.userDataRaw().empty()?0:1);
 
-			if(!this->isKilled())
+			if(!_odometryIgnored)
 			{
-				data.uncompressData();
-				data.setId(seq);
-				data.setStamp(stamp);
-				data.setGroundTruth(groundTruth);
-				UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, UserData=%d",
-						data.laserScanRaw().empty()?0:1,
-						data.imageRaw().empty()?0:1,
-						data.depthOrRightRaw().empty()?0:1,
-						data.userDataRaw().empty()?0:1);
-
-				odom = OdometryEvent(data, pose, infMatrix.inv());
+				if(pose.isNull())
+				{
+					UWARN("Reading the database: odometry is null! "
+						  "Please set \"Ignore odometry = true\" if there is "
+						  "no odometry in the database.");
+				}
+				if(info)
+				{
+					info->odomPose = pose;
+					info->odomCovariance = infMatrix.inv();
+				}
 			}
 		}
 	}
@@ -385,7 +419,7 @@ OdometryEvent DBReader::getNextData()
 	{
 		UERROR("Not initialized...");
 	}
-	return odom;
+	return data;
 }
 
 } /* namespace rtabmap */

corelib/src/EpipolarGeometry.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/src/Features2d.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -308,10 +308,9 @@ cv::Rect Feature2D::computeRoi(const cv::Mat & image, const std::vector<float> &
 		}
 
 		//right roi
-		roi.width = width - roi.x;
 		if(roiRatios[1] > 0 && roiRatios[1] < 1 - roiRatios[0])
 		{
-			roi.width -= width * roiRatios[1];
+			roi.width -= width * roiRatios[1] + width * roiRatios[0];
 		}
 
 		//top roi
@@ -321,10 +320,9 @@ cv::Rect Feature2D::computeRoi(const cv::Mat & image, const std::vector<float> &
 		}
 
 		//bottom roi
-		roi.height = height - roi.y;
 		if(roiRatios[3] > 0 && roiRatios[3] < 1 - roiRatios[2])
 		{
-			roi.height -= height * roiRatios[3];
+			roi.height -= height * roiRatios[3] + height * roiRatios[2];
 		}
 		UDEBUG("roi = %d, %d, %d, %d", roi.x, roi.y, roi.width, roi.height);
 
@@ -494,30 +492,42 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
 	UASSERT(image.type() == CV_8UC1);
 
 	cv::Mat mask;
-	if(maskIn.type()==CV_16UC1 || maskIn.type() == CV_32FC1)
+	if(!maskIn.empty())
 	{
-		mask = cv::Mat::zeros(maskIn.rows, maskIn.cols, CV_8UC1);
-		for(int i=0; i<(int)mask.total(); ++i)
+		if(maskIn.type()==CV_16UC1 || maskIn.type() == CV_32FC1)
 		{
-			float value = 0.0f;
-			if(maskIn.type()==CV_16UC1)
+			mask = cv::Mat::zeros(maskIn.rows, maskIn.cols, CV_8UC1);
+			for(int i=0; i<(int)mask.total(); ++i)
 			{
-				if(((unsigned short*)maskIn.data)[i] > 0 &&
-				   ((unsigned short*)maskIn.data)[i] < std::numeric_limits<unsigned short>::max())
+				float value = 0.0f;
+				if(maskIn.type()==CV_16UC1)
 				{
-					value = float(((unsigned short*)maskIn.data)[i])*0.001f;
+					if(((unsigned short*)maskIn.data)[i] > 0 &&
+					   ((unsigned short*)maskIn.data)[i] < std::numeric_limits<unsigned short>::max())
+					{
+						value = float(((unsigned short*)maskIn.data)[i])*0.001f;
+					}
+				}
+				else
+				{
+					value = ((float*)maskIn.data)[i];
+				}
+
+				if(value>_minDepth &&
+				   (_maxDepth == 0.0f || value <= _maxDepth))
+				{
+					((unsigned char*)mask.data)[i] = 255; // ORB uses 255 to handle pyramids
 				}
 			}
-			else
-			{
-				value = ((float*)maskIn.data)[i];
-			}
-
-			if(value>_minDepth &&
-			   (_maxDepth == 0.0f || value <= _maxDepth))
-			{
-				((unsigned char*)mask.data)[i] = 1;
-			}
+		}
+		else if(maskIn.type()==CV_8UC1)
+		{
+			// assume a standard mask
+			mask = maskIn;
+		}
+		else
+		{
+			UERROR("Wrong mask type (%d)! Should be 8UC1, 16UC1 or 32FC1.", maskIn.type());
 		}
 	}
 
@@ -529,7 +539,7 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
 	// Get keypoints
 	cv::Rect roi = Feature2D::computeRoi(image, _roiRatios);
 	keypoints = this->generateKeypointsImpl(image, roi.width && roi.height?roi:cv::Rect(0,0,image.cols, image.rows), mask);
-	UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d", timer.ticks(), keypoints.size());
+	UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (mask empty=%d)", timer.ticks(), keypoints.size(), mask.empty()?1:0);
 
 	limitKeypoints(keypoints, maxFeatures_);
 

corelib/src/Graph.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -561,6 +561,36 @@ std::multimap<int, int>::const_iterator findLink(
 	return links.end();
 }
 
+std::multimap<int, Link> filterLinks(
+		const std::multimap<int, Link> & links,
+		Link::Type filteredType)
+{
+	std::multimap<int, Link> output;
+	for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
+	{
+		if(iter->second.type() != filteredType)
+		{
+			output.insert(*iter);
+		}
+	}
+	return output;
+}
+
+std::map<int, Link> filterLinks(
+		const std::map<int, Link> & links,
+		Link::Type filteredType)
+{
+	std::map<int, Link> output;
+	for(std::map<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
+	{
+		if(iter->second.type() != filteredType)
+		{
+			output.insert(*iter);
+		}
+	}
+	return output;
+}
+
 std::map<int, Transform> frustumPosesFiltering(
 		const std::map<int, Transform> & poses,
 		const Transform & cameraPose,

corelib/src/Link.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

corelib/src/Memory.cpp

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -451,7 +451,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	else if(_feature2D)
 	{
 		_feature2D->parseParameters(parameters);
-	}
+	}
 
 	Registration::Type regStrategy = Registration::kTypeUndef;
 	if((iter=parameters.find(Parameters::kRegStrategy())) != parameters.end())
@@ -478,28 +478,29 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	{
 		_registrationIcp->parseParameters(parameters);
 	}
-
-	// do this after all parameters are parsed
-	// SLAM mode vs Localization mode
-	iter = parameters.find(Parameters::kMemIncrementalMemory());
-	if(iter != parameters.end())
-	{
-		bool value = uStr2Bool(iter->second.c_str());
-		if(value == false && _incrementalMemory)
-		{
-			// From SLAM to localization, change map id
-			this->incrementMapId();
-
-			// The easiest way to make sure that the mapping session is saved
-			// is to save the memory in the database and reload it.
-			if((_memoryChanged || _linksChanged) && _dbDriver)
-			{
-				UWARN("Switching from Mapping to Localization mode, the database will be saved and reloaded.");
-				this->init(_dbDriver->getUrl());
-			}
-		}
-		_incrementalMemory = value;
-	}
+
+	// do this after all parameters are parsed
+	// SLAM mode vs Localization mode
+	iter = parameters.find(Parameters::kMemIncrementalMemory());
+	if(iter != parameters.end())
+	{
+		bool value = uStr2Bool(iter->second.c_str());
+		if(value == false && _incrementalMemory)
+		{
+			// From SLAM to localization, change map id
+			this->incrementMapId();
+
+			// The easiest way to make sure that the mapping session is saved
+			// is to save the memory in the database and reload it.
+			if((_memoryChanged || _linksChanged) && _dbDriver)
+			{
+				UWARN("Switching from Mapping to Localization mode, the database will be saved and reloaded.");
+				this->init(_dbDriver->getUrl());
+				UWARN("Switching from Mapping to Localization mode, the database is reloaded!");
+			}
+		}
+		_incrementalMemory = value;
+	}
 }
 
 void Memory::preUpdate()
@@ -1274,7 +1275,8 @@ void Memory::clear()
 					_lastSignature?_lastSignature->id():0,
 					UProcessInfo::getMemoryUsage(),
 					_dbDriver->getMemoryUsed(),
-					(int)_vwd->getVisualWords().size());
+					(int)_vwd->getVisualWords().size(),
+					parameters_);
 		}
 	}
 	UDEBUG("");
@@ -1901,6 +1903,7 @@ bool Memory::labelSignature(int id, const std::string & label)
 		if(s)
 		{
 			s->setLabel(label);
+			_linksChanged = s->isSaved(); // HACK to get label updated in Localization mode
 			UWARN("Label \"%s\" set to node %d", label.c_str(), id);
 			return true;
 		}
@@ -2122,28 +2125,13 @@ Transform Memory::computeTransform(
 
 	// compute transform fromId -> toId
 	std::vector<int> inliersV;
-	if(_reextractLoopClosureFeatures || (fromS.getWords().size() && toS.getWords().size()))
+	if(_reextractLoopClosureFeatures ||
+		(fromS.getWords().size() && toS.getWords().size()) ||
+		(!guess.isNull() && !_registrationPipeline->isImageRequired()))
 	{
 		Signature tmpFrom = fromS;
 		Signature tmpTo = toS;
 
-		// make a guess fast with known correspondences (if there are)
-		RegistrationVis regVis(parameters_);
-		if(tmpFrom.getWords().size() &&
-			tmpTo.getWords().size() &&
-			tmpFrom.getWords3().size() &&
-			tmpTo.getWords3().size())
-		{
-			UDEBUG("");
-			// Remove descriptors, this will avoid recomputation of the correspondences in regVis
-			tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
-			tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
-			guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
-			// set back descriptors
-			tmpFrom.setWordsDescriptors(fromS.getWordsDescriptors());
-			tmpTo.setWordsDescriptors(toS.getWordsDescriptors());
-		}
-
 		if(_reextractLoopClosureFeatures)
 		{
 			UDEBUG("");
@@ -2157,44 +2145,39 @@ Transform Memory::computeTransform(
 			tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
 		}
 
-		if(guess.isNull())
-		{
-			if(!_registrationPipeline->isImageRequired())
-			{
-				UDEBUG("");
-				// no visual in the pipeline, make visual registration for guess
-				guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
-			}
-			else
-			{
-				UDEBUG("");
-				guess.setIdentity();
-			}
-		}
-
-		if(!guess.isNull())
+		if(guess.isNull() && !_registrationPipeline->isImageRequired())
 		{
 			UDEBUG("");
-			transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
-
-			if(!transform.isNull())
+			// no visual in the pipeline, make visual registration for guess
+			RegistrationVis regVis(parameters_);
+			guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
+			if(!guess.isNull())
 			{
-				UDEBUG("");
-				// verify if it is a 180 degree transform, well verify > 90
-				float x,y,z, roll,pitch,yaw;
-				transform.getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
-				if(fabs(roll) > CV_PI/2 ||
-				   fabs(pitch) > CV_PI/2 ||
-				   fabs(yaw) > CV_PI/2)
+				transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
+			}
+		}
+		else
+		{
+			transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
+		}
+
+		if(!transform.isNull())
+		{
+			UDEBUG("");
+			// verify if it is a 180 degree transform, well verify > 90
+			float x,y,z, roll,pitch,yaw;
+			transform.getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
+			if(fabs(roll) > CV_PI/2 ||
+			   fabs(pitch) > CV_PI/2 ||
+			   fabs(yaw) > CV_PI/2)
+			{
+				transform.setNull();
+				std::string msg = uFormat("Too large rotation detected! (roll=%f, pitch=%f, yaw=%f)",
+						roll, pitch, yaw);
+				UINFO(msg.c_str());
+				if(info)
 				{
-					transform.setNull();
-					std::string msg = uFormat("Too large rotation detected! (roll=%f, pitch=%f, yaw=%f)",
-							roll, pitch, yaw);
-					UINFO(msg.c_str());
-					if(info)
-					{
-						info->rejectedMsg = msg;
-					}
+					info->rejectedMsg = msg;
 				}
 			}
 		}
@@ -2298,6 +2281,7 @@ Transform Memory::computeIcpTransformMulti(
 		SensorData assembledData;
 		Transform toPose = poses.at(toId);
 		std::string msg;
+		int maxPoints = fromScan.cols;
 		pcl::PointCloud<pcl::PointXYZ>::Ptr assembledToClouds(new pcl::PointCloud<pcl::PointXYZ>);
 		for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 		{
@@ -2309,6 +2293,10 @@ Transform Memory::computeIcpTransformMulti(
 					cv::Mat scan;
 					s->sensorData().uncompressData(0, 0, &scan);
 					pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(scan, toPose.inverse() * iter->second);
+					if(scan.cols > maxPoints)
+					{
+						maxPoints = scan.cols;
+					}
 					*assembledToClouds += *cloud;
 				}
 				else
@@ -2319,7 +2307,7 @@ Transform Memory::computeIcpTransformMulti(
 		}
 		if(assembledToClouds->size())
 		{
-			assembledData.setLaserScanRaw(util3d::laserScanFromPointCloud(*assembledToClouds, Transform()), fromS->sensorData().laserScanMaxPts(), fromS->sensorData().laserScanMaxRange());
+			assembledData.setLaserScanRaw(util3d::laserScanFromPointCloud(*assembledToClouds, Transform()), fromS->sensorData().laserScanMaxPts()?fromS->sensorData().laserScanMaxPts():maxPoints, fromS->sensorData().laserScanMaxRange());
 		}
 
 		Transform guess = poses.at(fromId).inverse() * poses.at(toId);
@@ -3234,8 +3222,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 			}
 
 			cv::Mat depthMask;
-			if(!decimatedData.depthRaw().empty() &&
-			   _feature2D->getType() != Feature2D::kFeatureOrb) // ORB's mask pyramids don't seem to work well
+			if(!decimatedData.depthRaw().empty())
 			{
 				if(imageMono.rows % decimatedData.depthRaw().rows == 0 &&
 					imageMono.cols % decimatedData.depthRaw().cols == 0 &&
@@ -3266,34 +3253,6 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 					(!decimatedData.rightRaw().empty() && decimatedData.stereoCameraModel().isValidForProjection()))
 			{
 				keypoints3D = _feature2D->generateKeypoints3D(decimatedData, keypoints);
-				if(_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f)
-				{
-					UDEBUG("");
-					//remove all keypoints/descriptors with no valid 3D points
-					UASSERT((int)keypoints.size() == descriptors.rows &&
-							keypoints3D.size() == keypoints.size());
-					std::vector<cv::KeyPoint> validKeypoints(keypoints.size());
-					std::vector<cv::Point3f> validKeypoints3D(keypoints.size());
-					cv::Mat validDescriptors(descriptors.size(), descriptors.type());
-
-					int oi=0;
-					for(unsigned int i=0; i<keypoints3D.size(); ++i)
-					{
-						if(util3d::isFinite(keypoints3D[i]))
-						{
-							validKeypoints[oi] = keypoints[i];
-							validKeypoints3D[oi] = keypoints3D[i];
-							descriptors.row(i).copyTo(validDescriptors.row(oi));
-							++oi;
-						}
-					}
-					UDEBUG("Removed %d invalid 3D points", (int)keypoints3D.size()-oi);
-					validKeypoints.resize(oi);
-					validKeypoints3D.resize(oi);
-					keypoints = validKeypoints;
-					keypoints3D = validKeypoints3D;
-					descriptors = validDescriptors.rowRange(0, oi).clone();
-				}
 				t = timer.ticks();
 				if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);
 				UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t);
@@ -3427,7 +3386,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 		UASSERT(keypoints3D.size() == 0 || keypoints3D.size() == wordIds.size());
 		unsigned int i=0;
 		float decimationRatio = preDecimation / _imagePostDecimation;
-		double log2value = log(preDecimation)/log(2);
+		double log2value = log(double(preDecimation))/log(2.0);
 		for(std::list<int>::iterator iter=wordIds.begin(); iter!=wordIds.end() && i < keypoints.size(); ++iter, ++i)
 		{
 			cv::KeyPoint kpt = keypoints[i];