Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

guilib/src/DatabaseViewer.cpp

@@ -2206,6 +2206,10 @@ void DatabaseViewer::detectMoreLoopClosures()
 				}
 			}
 			progressDialog->incrementStep();
+			if(i%100)
+			{
+				QApplication::processEvents();
+			}
 		}
 		UINFO("Iteration %d/%d: added %d loop closures.", n+1, iterations, (int)addedLinks.size()/2);
 		progressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(iterations).arg(addedLinks.size()/2));
@@ -3321,30 +3325,27 @@ void DatabaseViewer::updateConstraintView(
 			.arg(sqrt(link.rotVariance()))
 			.arg(sqrt(link.transVariance())));
 	ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()).replace(" ", "\n"));
-	if((link.type() == Link::kNeighbor || link.type() == Link::kNeighborMerged) &&
-	   graphes_.size() &&
+	if(graphes_.size() &&
 	   (int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
 	{
 		std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
-		if(link.type() == Link::kNeighbor || link.type() == Link::kNeighborMerged)
-		{
-			std::map<int, rtabmap::Transform>::iterator iterFrom = graph.find(link.from());
-			std::map<int, rtabmap::Transform>::iterator iterTo = graph.find(link.to());
-			if(iterFrom != graph.end() && iterTo != graph.end())
-			{
-				ui_->checkBox_showOptimized->setEnabled(true);
-				Transform topt = iterFrom->second.inverse()*iterTo->second;
-				float diff = topt.getDistance(t);
-				Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
-				Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
-				float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
-				a = (a *180.0f) / CV_PI;
-				ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((diff/t.getNorm())*100.0f).arg(a));
 
-				if(ui_->checkBox_showOptimized->isChecked())
-				{
-					t = topt;
-				}
+		std::map<int, rtabmap::Transform>::iterator iterFrom = graph.find(link.from());
+		std::map<int, rtabmap::Transform>::iterator iterTo = graph.find(link.to());
+		if(iterFrom != graph.end() && iterTo != graph.end())
+		{
+			ui_->checkBox_showOptimized->setEnabled(true);
+			Transform topt = iterFrom->second.inverse()*iterTo->second;
+			float diff = topt.getDistance(t);
+			Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
+			Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
+			float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
+			a = (a *180.0f) / CV_PI;
+			ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((diff/t.getNorm())*100.0f).arg(a));
+
+			if(ui_->checkBox_showOptimized->isChecked())
+			{
+				t = topt;
 			}
 		}
 	}

guilib/src/ExportCloudsDialog.cpp

@@ -1071,6 +1071,8 @@ bool ExportCloudsDialog::getExportedClouds(
 				parameters,
 				has2dScans);
 
+		std::set<int> validCameras = uKeysSet(clouds);
+
 		UDEBUG("");
 		if(_canceled)
 		{
@@ -1915,60 +1917,63 @@ bool ExportCloudsDialog::getExportedClouds(
 				std::map<int, std::vector<CameraModel> > cameraModels;
 				for(std::map<int, Transform>::iterator jter=cameras.begin(); jter!=cameras.end(); ++jter)
 				{
-					std::vector<CameraModel> models;
-					StereoCameraModel stereoModel;
-					bool cacheHasCompressedImage = false;
-					if(cachedSignatures.contains(jter->first))
+					if(validCameras.find(jter->first) != validCameras.end())
 					{
-						const SensorData & data = cachedSignatures.find(jter->first)->sensorData();
-						models = data.cameraModels();
-						stereoModel = data.stereoCameraModel();
-						cacheHasCompressedImage = !data.imageCompressed().empty();
-					}
-					else if(_dbDriver)
-					{
-						_dbDriver->getCalibration(jter->first, models, stereoModel);
-					}
-
-					if(stereoModel.isValidForProjection())
-					{
-						models.clear();
-						models.push_back(stereoModel.left());
-					}
-					else if(models.size() == 0 || !models[0].isValidForProjection())
-					{
-						models.clear();
-					}
-					if(!jter->second.isNull() && models.size())
-					{
-						if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
+						std::vector<CameraModel> models;
+						StereoCameraModel stereoModel;
+						bool cacheHasCompressedImage = false;
+						if(cachedSignatures.contains(jter->first))
 						{
-							// we are using an old database format (image size not saved in calibrations), we should
-							// uncompress images to get their size
-							cv::Mat img;
-							if(cacheHasCompressedImage)
-							{
-								cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, 0);
-							}
-							else if(_dbDriver)
-							{
-								SensorData data;
-								_dbDriver->getNodeData(jter->first, data, true, false, false, false);
-								data.uncompressDataConst(&img, 0);
-							}
-							cv::Size imageSize = img.size();
-							imageSize.width /= models.size();
-							for(unsigned int i=0; i<models.size(); ++i)
-							{
-								models[i].setImageSize(imageSize);
-							}
-
+							const SensorData & data = cachedSignatures.find(jter->first)->sensorData();
+							models = data.cameraModels();
+							stereoModel = data.stereoCameraModel();
+							cacheHasCompressedImage = !data.imageCompressed().empty();
+						}
+						else if(_dbDriver)
+						{
+							_dbDriver->getCalibration(jter->first, models, stereoModel);
 						}
 
-						if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
+						if(stereoModel.isValidForProjection())
 						{
-							cameraPoses.insert(std::make_pair(jter->first, jter->second));
-							cameraModels.insert(std::make_pair(jter->first, models));
+							models.clear();
+							models.push_back(stereoModel.left());
+						}
+						else if(models.size() == 0 || !models[0].isValidForProjection())
+						{
+							models.clear();
+						}
+						if(!jter->second.isNull() && models.size())
+						{
+							if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
+							{
+								// we are using an old database format (image size not saved in calibrations), we should
+								// uncompress images to get their size
+								cv::Mat img;
+								if(cacheHasCompressedImage)
+								{
+									cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, 0);
+								}
+								else if(_dbDriver)
+								{
+									SensorData data;
+									_dbDriver->getNodeData(jter->first, data, true, false, false, false);
+									data.uncompressDataConst(&img, 0);
+								}
+								cv::Size imageSize = img.size();
+								imageSize.width /= models.size();
+								for(unsigned int i=0; i<models.size(); ++i)
+								{
+									models[i].setImageSize(imageSize);
+								}
+
+							}
+
+							if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
+							{
+								cameraPoses.insert(std::make_pair(jter->first, jter->second));
+								cameraModels.insert(std::make_pair(jter->first, models));
+							}
 						}
 					}
 				}

guilib/src/MainWindow.cpp

@@ -1120,8 +1120,13 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 						bool inlier = odom.info().words.find(iter->first) != odom.info().words.end();
 						(*cloud)[i].r = inlier?0:255;
 						(*cloud)[i].g = 255;
-						(*cloud)[i++].b = 0;
+						(*cloud)[i].b = 0;
+						if(!_preferencesDialog->isOdomOnlyInliersShown() || inlier)
+						{
+							++i;
+						}
 					}
+					cloud->resize(i);
 
 					_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
 					_cloudViewer->setCloudVisibility("featuresOdom", true);
@@ -1185,10 +1190,25 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 		{
 			if(odom.info().type == 0)
 			{
-				_ui->imageView_odometry->setFeatures(
-						odom.info().words,
-						odom.data().depthRaw(),
-						Qt::yellow);
+				if(_preferencesDialog->isOdomOnlyInliersShown())
+				{
+					std::multimap<int, cv::KeyPoint> kpInliers;
+					for(unsigned int i=0; i<odom.info().wordInliers.size(); ++i)
+					{
+						kpInliers.insert(*odom.info().words.find(odom.info().wordInliers[i]));
+					}
+					_ui->imageView_odometry->setFeatures(
+							kpInliers,
+							odom.data().depthRaw(),
+							Qt::green);
+				}
+				else
+				{
+					_ui->imageView_odometry->setFeatures(
+							odom.info().words,
+							odom.data().depthRaw(),
+							Qt::yellow);
+				}
 			}
 			else if(odom.info().type == 1)
 			{
@@ -1238,7 +1258,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 
 			if(odom.info().type == 0)
 			{
-				if(_ui->imageView_odometry->isFeaturesShown())
+				if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
 				{
 					for(unsigned int i=0; i<odom.info().wordMatches.size(); ++i)
 					{
@@ -5179,7 +5199,7 @@ void MainWindow::postProcessing()
 										if(!msg.empty())
 										{
 											UWARN("%s", msg.c_str());
-											_initProgressDialog->appendText(tr("%s").arg(msg.c_str()));
+											_initProgressDialog->appendText(tr("%1").arg(msg.c_str()));
 											QApplication::processEvents();
 											updateConstraint = false;
 										}
@@ -6678,7 +6698,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		}
 	}
 	actions = _ui->menuFile->actions();
-	if(actions.size()==17)
+	if(actions.size()==16)
 	{
 		if(actions.at(2)->isSeparator())
 		{
@@ -6688,9 +6708,9 @@ void MainWindow::changeState(MainWindow::State newState)
 		{
 			UWARN("Menu File separators have not the same order.");
 		}
-		if(actions.at(13)->isSeparator())
+		if(actions.at(12)->isSeparator())
 		{
-			actions.at(13)->setVisible(!monitoring);
+			actions.at(12)->setVisible(!monitoring);
 		}
 		else
 		{

guilib/src/PreferencesDialog.cpp

@@ -306,6 +306,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->checkBox_cacheStatistics, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
+	connect(_ui->checkBox_odom_onlyInliersShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->checkbox_odomDisabled, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
 	connect(_ui->odom_registration, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -785,6 +786,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 
 	// Registration
 	_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
+	_ui->reg_varianceNormalized->setObjectName(Parameters::kRegVarianceNormalized().c_str());
 	_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
 	_ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str());
 
@@ -1255,6 +1257,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_imageRejectedShown->setChecked(true);
 		_ui->checkBox_imageHighestHypShown->setChecked(false);
 		_ui->spinBox_odomQualityWarnThr->setValue(50);
+		_ui->checkBox_odom_onlyInliersShown->setChecked(false);
 		_ui->checkBox_posteriorGraphView->setChecked(true);
 		_ui->checkbox_odomDisabled->setChecked(false);
 		_ui->checkbox_groundTruthAlign->setChecked(true);
@@ -1651,6 +1654,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 	_ui->checkBox_cacheStatistics->setChecked(settings.value("figure_cache", _ui->checkBox_cacheStatistics->isChecked()).toBool());
 	_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
 	_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
+	_ui->checkBox_odom_onlyInliersShown->setChecked(settings.value("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked()).toBool());
 	_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
 	_ui->checkbox_odomDisabled->setChecked(settings.value("odomDisabled", _ui->checkbox_odomDisabled->isChecked()).toBool());
 	_ui->odom_registration->setCurrentIndex(settings.value("odomRegistration", _ui->odom_registration->currentIndex()).toInt());
@@ -2037,6 +2041,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 	settings.setValue("figure_cache",         _ui->checkBox_cacheStatistics->isChecked());
 	settings.setValue("notifyNewGlobalPath",  _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
 	settings.setValue("odomQualityThr",       _ui->spinBox_odomQualityWarnThr->value());
+	settings.setValue("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked());
 	settings.setValue("posteriorGraphView",   _ui->checkBox_posteriorGraphView->isChecked());
 	settings.setValue("odomDisabled",         _ui->checkbox_odomDisabled->isChecked());
 	settings.setValue("odomRegistration",     _ui->odom_registration->currentIndex());
@@ -4026,6 +4031,10 @@ int PreferencesDialog::getOdomQualityWarnThr() const
 {
 	return _ui->spinBox_odomQualityWarnThr->value();
 }
+bool PreferencesDialog::isOdomOnlyInliersShown() const
+{
+	return _ui->checkBox_odom_onlyInliersShown->isChecked();
+}
 bool PreferencesDialog::isPosteriorGraphView() const
 {
 	return _ui->checkBox_posteriorGraphView->isChecked();

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-667</y>
+            <y>0</y>
             <width>673</width>
             <height>2747</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>18</number>
+                <number>19</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -272,7 +272,7 @@
                     <item>
                      <widget class="QGroupBox" name="groupBox_5">
                       <property name="title">
-                       <string>Loop Closure Detection View</string>
+                       <string>Loop Closure Detection</string>
                       </property>
                       <layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
                        <item row="1" column="0">
@@ -371,16 +371,15 @@
                      </widget>
                     </item>
                     <item>
-                     <widget class="QGroupBox" name="groupBox">
+                     <widget class="QGroupBox" name="groupBox_21">
                       <property name="title">
-                       <string>3D Map View</string>
+                       <string>Odometry</string>
                       </property>
-                      <layout class="QGridLayout" name="gridLayout_38" columnstretch="0,1">
+                      <layout class="QGridLayout" name="gridLayout_85" columnstretch="0,1">
                        <item row="0" column="1">
-                        <widget class="QLabel" name="label_86">
+                        <widget class="QLabel" name="label_369">
                          <property name="text">
-                          <string>Odometry warning theshold:
-Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -&gt; General -&gt; Odom inliers.</string>
+                          <string>Show only inliers.</string>
                          </property>
                          <property name="wordWrap">
                           <bool>true</bool>
@@ -391,6 +390,30 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </widget>
                        </item>
                        <item row="0" column="0">
+                        <widget class="QCheckBox" name="checkBox_odom_onlyInliersShown">
+                         <property name="text">
+                          <string/>
+                         </property>
+                         <property name="checked">
+                          <bool>false</bool>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="1">
+                        <widget class="QLabel" name="label_159">
+                         <property name="text">
+                          <string>Warning theshold:
+Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -&gt; General -&gt; Odom inliers.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="0">
                         <widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
                          <property name="maximum">
                           <number>9999</number>
@@ -2678,7 +2701,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>2</number>
+                       <number>0</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2788,7 +2811,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_rgbd">
                              <property name="currentIndex">
-                              <number>6</number>
+                              <number>7</number>
                              </property>
                              <widget class="QWidget" name="page_32">
                               <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3480,7 +3503,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                      <string>For RGBD-SLAM datasets, it is 5.</string>
                                     </property>
                                     <property name="decimals">
-                                     <number>1</number>
+                                     <number>3</number>
                                     </property>
                                     <property name="minimum">
                                      <double>1.000000000000000</double>
@@ -10763,6 +10786,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </property>
                      </widget>
                     </item>
+                    <item row="2" column="1">
+                     <widget class="QLabel" name="label_370">
+                      <property name="text">
+                       <string>Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform.</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QCheckBox" name="reg_varianceNormalized">
+                      <property name="text">
+                       <string/>
+                      </property>
+                     </widget>
+                    </item>
                    </layout>
                   </widget>
                  </item>