Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time.

fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Parameters.h

@@ -174,6 +174,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Kp, Parallelized,          bool, true, 		"If the dictionary update and signature creation were parallelized.");
 	RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", 		"Region of interest ratios [left, right, top, bottom].");
 	RTABMAP_PARAM_STR(Kp, DictionaryPath,    "", 				"Path of the pre-computed dictionary");
+	RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true,	"When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
 
 	//Database
 	RTABMAP_PARAM(DbSqlite3, InMemory, 	   bool, false, 		"Using database in the memory instead of a file on the hard disk.");
@@ -294,7 +295,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(LccBow, Iterations,      int, 100, 		"Maximum iterations to compute the transform from visual words.");
 	RTABMAP_PARAM(LccBow, MaxDepth,        float, 5.0, 		"Max depth of the words (0 means no limit).");
 	RTABMAP_PARAM(LccBow, Force2D, 		   bool, false,     "Force 2D transform (3Dof: x,y and yaw).")
-	RTABMAP_PARAM(LccReextract, LoopClosureFeatures, bool, false, 	"Re-extract features on global loop closure.");
+	RTABMAP_PARAM(LccReextract, Activated, bool, false, 	"Activate re-extracting features on global loop closure.");
 	RTABMAP_PARAM(LccReextract, NNType, 	int, 3, 		"kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
 	RTABMAP_PARAM(LccReextract, NNDR, 		float, 0.7, 	"NNDR: nearest neighbor distance ratio.");
 	RTABMAP_PARAM(LccReextract, FeatureType, int, 4, 		"0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");

corelib/include/rtabmap/core/VWDictionary.h

@@ -98,6 +98,7 @@ private:
 	bool _incrementalDictionary;
 	float _nndrRatio;
 	std::string _dictionaryPath; // a pre-computed dictionary (.txt)
+	bool _newWordsComparedTogether;
 	int _lastWordId;
 	cv::flann::Index * _flannIndex;
 	cv::Mat _dataTree;

corelib/src/Rtabmap.cpp

@@ -100,7 +100,7 @@ Rtabmap::Rtabmap() :
 	_toroIterations(Parameters::defaultRGBDToroIterations()),
 	_databasePath(""),
 	_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
-	_reextractLoopClosureFeatures(Parameters::defaultLccReextractLoopClosureFeatures()),
+	_reextractLoopClosureFeatures(Parameters::defaultLccReextractActivated()),
 	_reextractNNType(Parameters::defaultLccReextractNNType()),
 	_reextractNNDR(Parameters::defaultLccReextractNNDR()),
 	_reextractFeatureType(Parameters::defaultLccReextractFeatureType()),
@@ -355,7 +355,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxDiffID(), _localDetectMaxDiffID);
 	Parameters::parse(parameters, Parameters::kRGBDToroIterations(), _toroIterations);
 	Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
-	Parameters::parse(parameters, Parameters::kLccReextractLoopClosureFeatures(), _reextractLoopClosureFeatures);
+	Parameters::parse(parameters, Parameters::kLccReextractActivated(), _reextractLoopClosureFeatures);
 	Parameters::parse(parameters, Parameters::kLccReextractNNType(), _reextractNNType);
 	Parameters::parse(parameters, Parameters::kLccReextractNNDR(), _reextractNNDR);
 	Parameters::parse(parameters, Parameters::kLccReextractFeatureType(), _reextractFeatureType);
@@ -1286,6 +1286,7 @@ bool Rtabmap::process(const SensorData & data)
 				uInsert(customParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
 				uInsert(customParameters, ParametersPair(Parameters::kMemImageKept(), "false"));
 				uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
+				uInsert(customParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
 				uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_reextractNNType))); // bruteforce
 				uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
 				uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
@@ -2296,6 +2297,7 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
 		bool optimized,
 		bool global) const
 {
+	UDEBUG("");
 	if(_memory && _memory->getLastWorkingSignature())
 	{
 		if(optimized)
@@ -2349,10 +2351,14 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
 			mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
 		}
 	}
-	else if(_memory->getStMem().size() || _memory->getWorkingMem().size())
+	else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size()))
 	{
 		UERROR("Last working signature is null!?");
 	}
+	else if(_memory == 0)
+	{
+		UWARN("Memory not initialized...");
+	}
 }
 
 void Rtabmap::getGraph(
@@ -2386,10 +2392,14 @@ void Rtabmap::getGraph(
 			mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
 		}
 	}
-	else if(_memory->getStMem().size() || _memory->getWorkingMem().size())
+	else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size()))
 	{
 		UERROR("Last working signature is null!?");
 	}
+	else if(_memory == 0)
+	{
+		UWARN("Memory not initialized...");
+	}
 }
 
 void Rtabmap::readParameters(const std::string & configFile, ParametersMap & parameters)

corelib/src/VWDictionary.cpp

@@ -50,6 +50,7 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
 	_incrementalDictionary(Parameters::defaultKpIncrementalDictionary()),
 	_nndrRatio(Parameters::defaultKpNndrRatio()),
 	_dictionaryPath(Parameters::defaultKpDictionaryPath()),
+	_newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()),
 	_lastWordId(0),
 	_flannIndex(new cv::flann::Index()),
 	_strategy(kNNUndef)
@@ -68,6 +69,7 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 {
 	ParametersMap::const_iterator iter;
 	Parameters::parse(parameters, Parameters::kKpNndrRatio(), _nndrRatio);
+	Parameters::parse(parameters, Parameters::kKpNewWordsComparedTogether(), _newWordsComparedTogether);
 
 	UASSERT(_nndrRatio > 0.0f);
 
@@ -505,7 +507,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
 		}
 
 		// Check if this descriptor matches with a word from the last signature (a word not already added to the tree)
-		if(newWords.rows)
+		if(_newWordsComparedTogether && newWords.rows)
 		{
 			cv::flann::Index linearSeach;
 			linearSeach.build(newWords, cv::flann::LinearIndexParams(), type == CV_32F?cvflann::FLANN_DIST_L2:cvflann::FLANN_DIST_HAMMING);

corelib/src/util3d.cpp

@@ -1879,7 +1879,7 @@ void optimizeTOROGraph(
 			   "TORO is not able to find the root of the graph!)");
 		pg.initializeOptimization();
 
-		UDEBUG("TORO iterate begin");
+		UDEBUG("TORO iterate begin (iterations=%d)", toroIterations);
 		for (int i=0; i<toroIterations; i++)
 		{
 			if(intermediateGraphes && (toroInitialGuess || i>0))

guilib/src/PreferencesDialog.cpp

@@ -346,6 +346,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->lineEdit_kp_roi->setObjectName(Parameters::kKpRoiRatios().c_str());
 	_ui->lineEdit_dictionaryPath->setObjectName(Parameters::kKpDictionaryPath().c_str());
 	connect(_ui->toolButton_dictionaryPath, SIGNAL(clicked()), this, SLOT(changeDictionaryPath()));
+	_ui->checkBox_kp_newWordsComparedTogether->setObjectName(Parameters::kKpNewWordsComparedTogether().c_str());
 
 	//SURF detector
 	_ui->surf_doubleSpinBox_hessianThr->setObjectName(Parameters::kSURFHessianThreshold().c_str());
@@ -429,7 +430,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
 	_ui->loopClosure_bowForce2D->setObjectName(Parameters::kLccBowForce2D().c_str());
 
-	_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractLoopClosureFeatures().c_str());
+	_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractActivated().c_str());
 	_ui->reextract_nn->setObjectName(Parameters::kLccReextractNNType().c_str());
 	_ui->reextract_nndrRatio->setObjectName(Parameters::kLccReextractNNDR().c_str());
 	_ui->reextract_type->setObjectName(Parameters::kLccReextractFeatureType().c_str());
@@ -1834,64 +1835,57 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
 	QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
 	if(obj)
 	{
-		if(obj->isEnabled())
+		QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
+		QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
+		QComboBox * combo = qobject_cast<QComboBox *>(obj);
+		QCheckBox * check = qobject_cast<QCheckBox *>(obj);
+		QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
+		QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
+		QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
+		bool ok;
+		if(spin)
 		{
-			QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
+			spin->setValue(QString(value.c_str()).toInt(&ok));
-			QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
+			if(!ok)
-			QComboBox * combo = qobject_cast<QComboBox *>(obj);
-			QCheckBox * check = qobject_cast<QCheckBox *>(obj);
-			QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
-			QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
-			QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
-			bool ok;
-			if(spin)
 			{
-				spin->setValue(QString(value.c_str()).toInt(&ok));
+				UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
-				if(!ok)
-				{
-					UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
-				}
 			}
-			else if(doubleSpin)
+		}
+		else if(doubleSpin)
+		{
+			doubleSpin->setValue(QString(value.c_str()).toDouble(&ok));
+			if(!ok)
 			{
-				doubleSpin->setValue(QString(value.c_str()).toDouble(&ok));
+				UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
-				if(!ok)
-				{
-					UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
-				}
 			}
-			else if(combo)
+		}
+		else if(combo)
+		{
+			combo->setCurrentIndex(QString(value.c_str()).toInt(&ok));
+			if(!ok)
 			{
-				combo->setCurrentIndex(QString(value.c_str()).toInt(&ok));
+				UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
-				if(!ok)
-				{
-					UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
-				}
-			}
-			else if(check)
-			{
-				check->setChecked(uStr2Bool(value.c_str()));
-			}
-			else if(radio)
-			{
-				radio->setChecked(uStr2Bool(value.c_str()));
-			}
-			else if(lineEdit)
-			{
-				lineEdit->setText(value.c_str());
-			}
-			else if(groupBox)
-			{
-				groupBox->setChecked(uStr2Bool(value.c_str()));
-			}
-			else
-			{
-				ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
 			}
 		}
+		else if(check)
+		{
+			check->setChecked(uStr2Bool(value.c_str()));
+		}
+		else if(radio)
+		{
+			radio->setChecked(uStr2Bool(value.c_str()));
+		}
+		else if(lineEdit)
+		{
+			lineEdit->setText(value.c_str());
+		}
+		else if(groupBox)
+		{
+			groupBox->setChecked(uStr2Bool(value.c_str()));
+		}
 		else
 		{
-			UDEBUG("Ignoring parameter %s because it is disabled.", key.c_str());
+			ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
 		}
 	}
 	else

guilib/src/ui/preferencesDialog.ui

@@ -65,7 +65,7 @@
             <x>0</x>
             <y>0</y>
             <width>744</width>
-            <height>1019</height>
+            <height>900</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>24</number>
+                <number>9</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3561,6 +3561,26 @@ When set to false, no new words are added to dictionary, so no more updates are
                          </property>
                         </widget>
                        </item>
+                       <item row="6" column="0">
+                        <widget class="QCheckBox" name="checkBox_kp_newWordsComparedTogether">
+                         <property name="text">
+                          <string/>
+                         </property>
+                         <property name="checked">
+                          <bool>true</bool>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="6" column="2">
+                        <widget class="QLabel" name="label_186">
+                         <property name="text">
+                          <string>When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                        </widget>
+                       </item>
                       </layout>
                      </widget>
                     </item>