Added a quality odometry threshold, turning the background yellow when the mapping area has too low features

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Odometry.h

@@ -34,7 +34,7 @@ class RTABMAP_EXP Odometry
 {
 public:
 	virtual ~Odometry() {}
-	Transform process(Image & image);
+	Transform process(Image & image, int * quality = 0);
 	virtual void reset();
 
 	bool isLargeEnoughTransform(const Transform & transform);
@@ -44,18 +44,20 @@ public:
 	int getMinInliers() const {return _minInliers;}
 	float getInlierDistance() const {return _inlierDistance;}
 	int getIterations() const {return _iterations;}
+	float getWordsRatio() const {return _wordsRatio;}
 	float getMaxDepth() const {return _maxDepth;}
 	float geLinearUpdate() const {return _linearUpdate;}
 	float getAngularUpdate() const {return _angularUpdate;}
 
 private:
-	virtual Transform computeTransform(Image & image) = 0;
+	virtual Transform computeTransform(Image & image, int * quality = 0) = 0;
 
 private:
 	int _maxFeatures;
 	int _minInliers;
 	float _inlierDistance;
 	int _iterations;
+	float _wordsRatio;
 	float _maxDepth;
 	float _linearUpdate;
 	float _angularUpdate;
@@ -68,6 +70,7 @@ protected:
 			int maxWords = Parameters::defaultOdomMaxWords(),
 			int minInliers = Parameters::defaultOdomMinInliers(),
 			int iterations = Parameters::defaultOdomIterations(),
+			float wordsRatio = Parameters::defaultOdomWordsRatio(),
 			float maxDepth = Parameters::defaultOdomMaxDepth(),
 			float linearUpdate = Parameters::defaultOdomLinearUpdate(),
 			float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -83,6 +86,7 @@ public:
 			int maxWords = Parameters::defaultOdomMaxWords(),
 			int minInliers = Parameters::defaultOdomMinInliers(),
 			int iterations = Parameters::defaultOdomIterations(),
+			float wordsRatio = Parameters::defaultOdomWordsRatio(),
 			float maxDepth = Parameters::defaultOdomMaxDepth(),
 			float linearUpdate = Parameters::defaultOdomLinearUpdate(),
 			float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -96,7 +100,7 @@ public:
 	virtual void reset();
 
 private:
-	virtual Transform computeTransform(Image & image);
+	virtual Transform computeTransform(Image & image, int * quality = 0);
 
 private:
 	int _briefBytes;
@@ -120,6 +124,7 @@ public:
 			int maxWords = Parameters::defaultOdomMaxWords(),
 			int minInliers = Parameters::defaultOdomMinInliers(),
 			int iterations = Parameters::defaultOdomIterations(),
+			float wordsRatio = Parameters::defaultOdomWordsRatio(),
 			float maxDepth = Parameters::defaultOdomMaxDepth(),
 			float linearUpdate = Parameters::defaultOdomLinearUpdate(),
 			float angularUpdate = Parameters::defaultOdomAngularUpdate(),
@@ -132,7 +137,7 @@ public:
 	virtual void reset();
 
 private:
-	virtual Transform computeTransform(Image & image);
+	virtual Transform computeTransform(Image & image, int * quality = 0);
 
 private:
 	Memory * _memory;
@@ -156,7 +161,7 @@ public:
 	void reset();
 
 private:
-	virtual Transform computeTransform(Image & image);
+	virtual Transform computeTransform(Image & image, int * quality = 0);
 
 private:
 	int _decimation;

corelib/include/rtabmap/core/OdometryEvent.h

@@ -17,16 +17,19 @@ class OdometryEvent : public UEvent
 {
 public:
 	OdometryEvent(
-		const Image & data) :
+		const Image & data, int quality = 0) :
-			_data(data) {}
+			_data(data),
+			_quality(quality) {}
 	virtual ~OdometryEvent() {}
 	virtual std::string getClassName() const {return "OdometryEvent";}
 
 	bool isValid() const {return !_data.pose().isNull();}
 	const Image & data() const {return _data;}
+	int quality() const {return _quality;}
 
 private:
 	Image _data;
+	int _quality;
 };
 
 class OdometryResetEvent : public UEvent

corelib/include/rtabmap/core/Parameters.h

@@ -224,6 +224,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Odom, MinInliers,             int, 10, 		"Minimum visual word correspondences to compute geometry transform.");
 	RTABMAP_PARAM(Odom, Iterations,             int, 100, 		"Maximum iterations to compute the transform from visual words.");
 	RTABMAP_PARAM(Odom, MaxDepth,               float, 5.0, 	"Max depth of the words (0 means no limit).");
+	RTABMAP_PARAM(Odom, WordsRatio,             float, 0.5, 	"Minmum ratio of keypoints between the current image and the last image to compute odometry.");
 	RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,         "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).")
 
 	RTABMAP_PARAM(OdomBin, BriefBytes,         	   int, 32, 	"");

corelib/src/Odometry.cpp

@@ -36,6 +36,7 @@ Odometry::Odometry(
 		int maxWords,
 		int minInliers,
 		int iterations,
+		float wordsRatio,
 		float maxDepth,
 		float linearUpdate,
 		float angularUpdate,
@@ -44,6 +45,7 @@ Odometry::Odometry(
 			_minInliers(minInliers),
 			_inlierDistance(inlierDistance),
 			_iterations(iterations),
+			_wordsRatio(wordsRatio),
 			_maxDepth(maxDepth),
 			_linearUpdate(linearUpdate),
 			_angularUpdate(angularUpdate),
@@ -59,6 +61,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
 		_minInliers(Parameters::defaultOdomMinInliers()),
 		_inlierDistance(Parameters::defaultOdomInlierDistance()),
 		_iterations(Parameters::defaultOdomIterations()),
+		_wordsRatio(Parameters::defaultOdomWordsRatio()),
 		_maxDepth(Parameters::defaultOdomMaxDepth()),
 		_linearUpdate(Parameters::defaultOdomLinearUpdate()),
 		_angularUpdate(Parameters::defaultOdomAngularUpdate()),
@@ -72,6 +75,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
 	Parameters::parse(parameters, Parameters::kOdomMinInliers(), _minInliers);
 	Parameters::parse(parameters, Parameters::kOdomInlierDistance(), _inlierDistance);
 	Parameters::parse(parameters, Parameters::kOdomIterations(), _iterations);
+	Parameters::parse(parameters, Parameters::kOdomWordsRatio(), _wordsRatio);
 	Parameters::parse(parameters, Parameters::kOdomMaxDepth(), _maxDepth);
 	Parameters::parse(parameters, Parameters::kOdomMaxWords(), _maxFeatures);
 }
@@ -89,9 +93,9 @@ bool Odometry::isLargeEnoughTransform(const Transform & transform)
 	       fabs(transform.z()) > _linearUpdate;
 }
 
-Transform Odometry::process(Image & image)
+Transform Odometry::process(Image & image, int * quality)
 {
-	Transform t = this->computeTransform(image);
+	Transform t = this->computeTransform(image, quality);
 	if(!t.isNull())
 	{
 		_resetCurrentCount = _resetCountdown;
@@ -117,6 +121,7 @@ OdometryBinary::OdometryBinary(
 		int maxWords,
 		int minInliers,
 		int iterations,
+		float wordsRatio,
 		float maxDepth,
 		float linearUpdate,
 		float angularUpdate,
@@ -125,7 +130,7 @@ OdometryBinary::OdometryBinary(
 		int fastThreshold,
 		bool fastNonmaxSuppression,
 		bool bruteForceMatching) :
-	Odometry(inlierDistance, maxWords, minInliers, iterations, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
+	Odometry(inlierDistance, maxWords, minInliers, iterations, wordsRatio, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
  	_briefBytes(briefBytes),
 	_fastThreshold(fastThreshold),
 	_fastNonmaxSuppression(fastNonmaxSuppression),
@@ -156,8 +161,8 @@ void OdometryBinary::reset()
 }
 
 
-// return true if odometry is correctly computed
+// return not null transform if odometry is correctly computed
-Transform OdometryBinary::computeTransform(Image & image)
+Transform OdometryBinary::computeTransform(Image & image, int * quality)
 {
 	UTimer timer;
 	cv::Mat imageMono;
@@ -187,7 +192,7 @@ Transform OdometryBinary::computeTransform(Image & image)
 
 	if(_lastKeypoints.size())
 	{
-		if(newDescriptors.rows && newDescriptors.rows > (int)_lastKeypoints.size()/2) // at least 50% keypoints
+		if(newDescriptors.rows && newDescriptors.rows > (int)(getWordsRatio() * float(_lastKeypoints.size()))) // at least 50% keypoints
 		{
 			cv::Mat results;
 			cv::Mat dists;
@@ -308,6 +313,11 @@ Transform OdometryBinary::computeTransform(Image & image)
 				float x,y,z, roll,pitch,yaw;
 				pcl::getTranslationAndEulerAngles(util3d::transformToEigen3f(t), x,y,z, roll,pitch,yaw);
 
+				if(quality)
+				{
+					*quality = inliers;
+				}
+
 				// Large transforms may be erroneous computed transforms, so keep under 1 m
 				if(inliers >= this->getMinInliers())
 				{
@@ -335,8 +345,8 @@ Transform OdometryBinary::computeTransform(Image & image)
 		}
 		else if(newDescriptors.rows)
 		{
-			UWARN("At least 50%% keypoints of the last image required. New=%d last=%d",
+			UWARN("At least %f%% keypoints of the last image required. New=%d last=%d",
-					newDescriptors.rows, _lastKeypoints.size());
+					getWordsRatio()*100.0f, newDescriptors.rows, _lastKeypoints.size());
 		}
 		else
 		{
@@ -368,13 +378,14 @@ OdometryBOW::OdometryBOW(
 		int maxWords,
 		int minInliers,
 		int iterations,
+		float wordsRatio,
 		float maxDepth,
 		float linearUpdate,
 		float angularUpdate,
 		int resetCoutdown,
 		float surfHessianThreshold,
 		float nndr) : // nearest neighbor distance ratio
-	Odometry(inlierDistance, maxWords, minInliers, iterations, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
+	Odometry(inlierDistance, maxWords, minInliers, iterations, wordsRatio, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
 	_memory(new Memory())
 {
 	ParametersMap customParameters;
@@ -421,8 +432,8 @@ void OdometryBOW::reset()
 }
 
 
-// return true if odometry is correctly computed
+// return not null transform if odometry is correctly computed
-Transform OdometryBOW::computeTransform(Image & image)
+Transform OdometryBOW::computeTransform(Image & image, int * quality)
 {
 	UTimer timer;
 	Transform output;
@@ -444,10 +455,10 @@ Transform OdometryBOW::computeTransform(Image & image)
 		if(previousSignature && newSignature)
 		{
 			Transform transform;
-			if(newSignature->getWords3().size() < previousSignature->getWords3().size()/2)
+			if(newSignature->getWords3().size() < (unsigned int)(getWordsRatio() * float(previousSignature->getWords3().size())))
 			{
-				UWARN("At least 50%% keypoints of the last image required. New=%d last=%d",
+				UWARN("At least %f%% keypoints of the last image required. New=%d last=%d",
-						newSignature->getWords3().size(), previousSignature->getWords3().size());
+						getWordsRatio()*100.0f, newSignature->getWords3().size(), previousSignature->getWords3().size());
 			}
 			else if(!previousSignature->getWords3().empty() && !newSignature->getWords3().empty())
 			{
@@ -472,6 +483,11 @@ Transform OdometryBOW::computeTransform(Image & image)
 							this->getIterations(),
 							&inliers);
 
+					if(quality)
+					{
+						*quality = inliers;
+					}
+
 					if(inliers < this->getMinInliers())
 					{
 						transform.setNull();
@@ -527,7 +543,7 @@ OdometryICP::OdometryICP(
 		float linearUpdate,
 		float angularUpdate,
 		int resetCoutdown) :
-	Odometry(0, 0, 0, 0, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
+	Odometry(0, 0, 0, 0, 0, maxDepth, linearUpdate, angularUpdate, resetCoutdown),
 	_decimation(decimation),
 	_voxelSize(voxelSize),
 	_samples(samples),
@@ -563,8 +579,8 @@ void OdometryICP::reset()
 	_previousCloud.reset(new pcl::PointCloud<pcl::PointNormal>);
 }
 
-// return not null if odometry is correctly computed
+// return not null transform if odometry is correctly computed
-Transform OdometryICP::computeTransform(Image & image)
+Transform OdometryICP::computeTransform(Image & image, int * quality)
 {
 	UTimer timer;
 	Transform output;
@@ -698,9 +714,10 @@ void OdometryThread::mainLoop()
 	getImage(image);
 	if(!image.empty())
 	{
-		Transform pose = _odometry->process(image);
+		int quality = 0;
+		Transform pose = _odometry->process(image, &quality);
 		image.setPose(pose); // a null pose notify that odometry could not be computed
-		this->post(new OdometryEvent(image));
+		this->post(new OdometryEvent(image, quality));
 	}
 }
 

guilib/include/rtabmap/gui/MainWindow.h

@@ -126,7 +126,7 @@ private slots:
 	void selectScreenCaptureFormat(bool checked);
 	void takeScreenshot();
 	void updateElapsedTime();
-	void processOdometry(const rtabmap::Image & data);
+	void processOdometry(const rtabmap::Image & data, int quality);
 	void applyAllPrefSettings();
 	void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
 	void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -156,7 +156,7 @@ private slots:
 
 signals:
 	void statsReceived(const rtabmap::Statistics &);
-	void odometryReceived(const rtabmap::Image &);
+	void odometryReceived(const rtabmap::Image &, int);
 	void thresholdsChanged(int, int);
 	void stateChanged(MainWindow::State);
 	void rtabmapEventInitReceived(int status, const QString & info);

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -23,7 +23,7 @@ class RTABMAPGUI_EXP OdometryViewer : public CloudViewer, public UEventsHandler
 	Q_OBJECT
 
 public:
-	OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, QWidget * parent = 0);
+	OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
 	virtual ~OdometryViewer() {}
 
 protected:
@@ -35,11 +35,13 @@ private slots:
 
 private:
 	UMutex dataMutex_;
-	std::list<rtabmap::Image> buffer_;
+	std::list<rtabmap::Image> data_;
+	int dataQuality_;
 	UTimer timer_;
 	int maxClouds_;
 	float voxelSize_;
 	int decimation_;
+	int qualityWarningThr_;
 	int id_;
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
 	QAction * _aSetVoxelSize;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -113,6 +113,7 @@ public:
 	bool imageHighestHypShown() const;
 	bool beepOnPause() const;
 	int getKeypointsOpacity() const;
+	int getOdomQualityWarnThr() const;
 
 	bool isCloudMeshing(int index) const;     // 0=map
 	bool isCloudsShown(int index) const;      // 0=map, 1=odom, 2=save

guilib/src/MainWindow.cpp

@@ -328,7 +328,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
 
 	qRegisterMetaType<rtabmap::Image>("rtabmap::Image");
-	connect(this, SIGNAL(odometryReceived(rtabmap::Image)), this, SLOT(processOdometry(rtabmap::Image)));
+	connect(this, SIGNAL(odometryReceived(rtabmap::Image, int)), this, SLOT(processOdometry(rtabmap::Image, int)));
 
 	connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
 
@@ -527,7 +527,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
 		   !_processingStatistics)
 		{
 			_lastOdometryProcessed = false; // if we receive too many odometry events!
-			emit odometryReceived(odomEvent->data());
+			emit odometryReceived(odomEvent->data(), odomEvent->quality());
 		}
 	}
 	else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -550,7 +550,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
 	}
 }
 
-void MainWindow::processOdometry(const rtabmap::Image & data)
+void MainWindow::processOdometry(const rtabmap::Image & data, int quality)
 {
 	Transform pose = data.pose();
 	if(pose.isNull())
@@ -560,11 +560,19 @@ void MainWindow::processOdometry(const rtabmap::Image & data)
 
 		pose = _lastOdomPose;
 	}
+	else if(quality &&
+			_preferencesDialog->getOdomQualityWarnThr() &&
+			quality < _preferencesDialog->getOdomQualityWarnThr())
+	{
+		UDEBUG("odom warn, quality=%d thr=%d", quality, _preferencesDialog->getOdomQualityWarnThr());
+		_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
+	}
 	else
 	{
 		UDEBUG("odom ok");
 		_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
 	}
+	_ui->statsToolBox->updateStat("/Odom inliers/", (float)data.id(), (float)quality);
 	if(!pose.isNull())
 	{
 		_lastOdomPose = pose;

guilib/src/OdometryViewer.cpp

@@ -21,11 +21,12 @@
 namespace rtabmap {
 
 
-OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, QWidget * parent) :
+OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, int qualityWarningThr, QWidget * parent) :
 		CloudViewer(parent),
 		maxClouds_(maxClouds),
 		voxelSize_(voxelSize),
 		decimation_(decimation),
+		qualityWarningThr_(qualityWarningThr),
 		id_(0),
 		_aSetVoxelSize(0),
 		_aSetDecimation(0),
@@ -48,11 +49,14 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, Q
 void OdometryViewer::processData()
 {
 	rtabmap::Image data;
+	int quality;
 	dataMutex_.lock();
-	if(buffer_.size())
+	if(data_.size())
 	{
-		data = buffer_.back();
+		data = data_.back();
-		buffer_.clear();
+		data_.clear();
+		quality = dataQuality_;
+		dataQuality_ = 0;
 	}
 	dataMutex_.unlock();
 
@@ -96,7 +100,14 @@ void OdometryViewer::processData()
 
 		this->updateCameraPosition(data.pose());
 
-		this->setBackgroundColor(Qt::black);
+		if(qualityWarningThr_ && quality && quality < qualityWarningThr_)
+		{
+			this->setBackgroundColor(Qt::darkYellow);
+		}
+		else
+		{
+			this->setBackgroundColor(Qt::black);
+		}
 
 		this->render();
 	}
@@ -114,15 +125,16 @@ void OdometryViewer::handleEvent(UEvent * event)
 			{
 				bool empty = false;
 				dataMutex_.lock();
-				if(buffer_.empty())
+				if(data_.empty())
 				{
-					buffer_.push_back(odomEvent->data());
+					data_.push_back(odomEvent->data());
 					empty= true;
 				}
 				else
 				{
-					buffer_.back() = odomEvent->data();
+					data_.back() = odomEvent->data();
 				}
+				dataQuality_ = odomEvent->quality();
 				dataMutex_.unlock();
 				if(empty)
 				{

guilib/src/PreferencesDialog.cpp

@@ -394,6 +394,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->odom_iterations->setObjectName(Parameters::kOdomIterations().c_str());
 	_ui->odom_maxDepth->setObjectName(Parameters::kOdomMaxDepth().c_str());
 	_ui->odom_minInliers->setObjectName(Parameters::kOdomMinInliers().c_str());
+	_ui->odom_ratio->setObjectName(Parameters::kOdomWordsRatio().c_str());
 	_ui->stackedWidget_odom->setCurrentIndex(_ui->odom_type->currentIndex());
 	connect(_ui->odom_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odom, SLOT(setCurrentIndex(int)));
 
@@ -705,6 +706,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_imageRejectedShown->setChecked(true);
 		_ui->checkBox_imageHighestHypShown->setChecked(false);
 		_ui->horizontalSlider_keypointsOpacity->setSliderPosition(20);
+		_ui->spinBox_odomQualityWarnThr->setValue(50);
 	}
 	else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName())
 	{
@@ -718,7 +720,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 
 			if(i<2)
 			{
-				_3dRenderingOpacity[i]->setValue(i==0?0.6:1.0);
+				_3dRenderingOpacity[i]->setValue(1.0);
 				_3dRenderingPtSize[i]->setValue(i==0?1:2);
 				_3dRenderingOpacityScan[i]->setValue(1.0);
 				_3dRenderingPtSizeScan[i]->setValue(1);
@@ -2330,6 +2332,10 @@ int PreferencesDialog::getKeypointsOpacity() const
 {
 	return _ui->horizontalSlider_keypointsOpacity->value();
 }
+int PreferencesDialog::getOdomQualityWarnThr() const
+{
+	return _ui->spinBox_odomQualityWarnThr->value();
+}
 
 bool PreferencesDialog::isCloudsShown(int index) const
 {
@@ -2767,7 +2773,7 @@ void PreferencesDialog::testOdometry(OdomType type)
 		window->setMinimumHeight(600);
 		connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );
 
-		OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, window);
+		OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, this->getOdomQualityWarnThr(), window);
 
 		QVBoxLayout *layout = new QVBoxLayout();
 		layout->addWidget(odomViewer);

guilib/src/ui/preferencesDialog.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1027</width>
-    <height>494</height>
+    <height>659</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>724</width>
+            <width>729</width>
-            <height>1076</height>
+            <height>823</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>0</number>
+                <number>15</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -143,12 +143,9 @@
                     <item>
                      <widget class="QGroupBox" name="groupBox_5">
                       <property name="title">
-                       <string>Image view</string>
+                       <string>Loop closure detection view</string>
                       </property>
                       <layout class="QFormLayout" name="formLayout_12">
-                       <property name="fieldGrowthPolicy">
-                        <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                       </property>
                        <item row="1" column="0">
                         <widget class="QCheckBox" name="checkBox_imageFlipped">
                          <property name="text">
@@ -235,7 +232,7 @@
                        <item row="0" column="1">
                         <widget class="QLabel" name="label_70">
                          <property name="text">
-                          <string>Vertical layout used for the loop closure detection window.</string>
+                          <string>Vertical layout.</string>
                          </property>
                          <property name="wordWrap">
                           <bool>false</bool>
@@ -255,6 +252,36 @@
                       </layout>
                      </widget>
                     </item>
+                    <item>
+                     <widget class="QGroupBox" name="groupBox">
+                      <property name="title">
+                       <string>3D Map view</string>
+                      </property>
+                      <layout class="QFormLayout" name="formLayout_23">
+                       <item row="0" column="0">
+                        <widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
+                         <property name="maximum">
+                          <number>9999</number>
+                         </property>
+                         <property name="value">
+                          <number>50</number>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="0" column="1">
+                        <widget class="QLabel" name="label_86">
+                         <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>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                        </widget>
+                       </item>
+                      </layout>
+                     </widget>
+                    </item>
                     <item>
                      <widget class="QGroupBox" name="groupBox_2">
                       <property name="title">
@@ -598,7 +625,7 @@ High-res view</string>
                           <double>0.100000000000000</double>
                          </property>
                          <property name="value">
-                          <double>0.600000000000000</double>
+                          <double>1.000000000000000</double>
                          </property>
                         </widget>
                        </item>
@@ -4963,7 +4990,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="1">
+                      <item row="10" column="1">
                        <widget class="QLabel" name="label_104">
                         <property name="text">
                          <string>Max feature depth. For ICP, it is the max cloud depth.</string>
@@ -4973,7 +5000,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="0">
+                      <item row="10" column="0">
                        <widget class="QDoubleSpinBox" name="odom_maxDepth">
                         <property name="suffix">
                          <string> m</string>
@@ -5009,6 +5036,38 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                         </property>
                        </widget>
                       </item>
+                      <item row="9" column="1">
+                       <widget class="QLabel" name="label_90">
+                        <property name="text">
+                         <string>Minmum ratio of keypoints between the current image and the last image to compute odometry.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="9" column="0">
+                       <widget class="QDoubleSpinBox" name="odom_ratio">
+                        <property name="suffix">
+                         <string/>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.500000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </item>
                     <item>

tools/OdometryViewer/main.cpp

@@ -27,6 +27,7 @@ void showUsage()
 			"  -min #                    Minimum inliers to accept the transform (default 20)\n"
 			"  -depth #.#                Maximum features depth (default 5.0 m)\n"
 			"  -i #                      RANSAC/ICP iterations (default 100)\n"
+			"  -r #.#                    Words ratio (default 0.5)\n"
 			"  -lu #                     Linear update (default 0.0 m)\n"
 			"  -au #                     Angular update (default 0.0 radian)\n"
 			"  -reset #                  Reset countdown (default 0 = disabled)\n"
@@ -63,6 +64,7 @@ int main (int argc, char * argv[])
 	float distance = 0.005;
 	int maxWords = 0;
 	int minInliers = 20;
+	float wordsRatio = 0.5;
 	float maxDepth = 5.0f;
 	int iterations = 100;
 	float linearUpdate = 0.0f;
@@ -252,6 +254,23 @@ int main (int argc, char * argv[])
 			}
 			continue;
 		}
+		if(strcmp(argv[i], "-r") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				wordsRatio = std::atof(argv[i]);
+				if(wordsRatio < 0.0f || wordsRatio > 1.0f)
+				{
+					showUsage();
+				}
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
 		if(strcmp(argv[i], "-lu") == 0)
 		{
 			++i;
@@ -446,6 +465,7 @@ int main (int argc, char * argv[])
 	UINFO("Max features = %d", maxWords);
 	UINFO("Min inliers = %d", minInliers);
 	UINFO("RANSAC/ICP iterations = %d", iterations);
+	UINFO("Words ratio = %f", wordsRatio);
 	UINFO("Max depth = %f", maxDepth);
 	UINFO("Linear update = %f", linearUpdate);
 	UINFO("Angular update = %f", angularUpdate);
@@ -470,6 +490,7 @@ int main (int argc, char * argv[])
 				maxWords,
 				minInliers,
 				iterations,
+				wordsRatio,
 				maxDepth,
 				linearUpdate,
 				angularUpdate,
@@ -482,6 +503,7 @@ int main (int argc, char * argv[])
 				maxWords,
 				minInliers,
 				iterations,
+				wordsRatio,
 				maxDepth,
 				linearUpdate,
 				angularUpdate,