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Merge branch 'master' of github.com:introlab/rtabmap into compress_features_in_db

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matlabbe
2026-04-05 14:06:48 -07:00
parent 3840a73dce 8fd701aabe
commit 5e85e6192b
51 changed files with 2744 additions and 937 deletions
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corelib/include/rtabmap/core/Features2d.h
+2 -1
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@@ -309,7 +309,8 @@ private:
bool preciseUpscale_;
bool rootSIFT_;
bool gpu_;
float guaussianThreshold_;
float gaussianThreshold_;
float maxGaussianThreshold_;
bool upscale_;
cv::Ptr<CV_SIFT> sift_;
corelib/include/rtabmap/core/Graph.h
+3 -4
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@@ -277,7 +277,8 @@ std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
bool lookInDatabase = true,
bool updateNewCosts = false,
float linearVelocity = 0.0f, // m/sec
float angularVelocity = 0.0f); // rad/sec
float angularVelocity = 0.0f, // rad/sec
bool ignoreDirectLinks = false);
/**
* Find the nearest node of the target pose
@@ -336,9 +337,7 @@ RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius
RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
float RTABMAP_CORE_EXPORT computePathLength(
const std::vector<std::pair<int, Transform> > & path,
unsigned int fromIndex = 0,
unsigned int toIndex = 0);
const std::vector<std::pair<int, Transform> > & path);
// assuming they are all linked in map order
float RTABMAP_CORE_EXPORT computePathLength(
corelib/include/rtabmap/core/Memory.h
+2
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@@ -144,6 +144,7 @@ public:
void saveLocationData(int locationId);
void removeLink(int idA, int idB);
void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);
//getters
const std::map<int, double> & getWorkingMem() const {return _workingMem;}
@@ -277,6 +278,7 @@ private:
void initCountId();
void rehearsal(Signature * signature, Statistics * stats = 0);
bool rehearsalMerge(int oldId, int newId);
bool canBeReduced(const Link & link, float maxDistance, int direction);
const std::map<int, Signature*> & getSignatures() const {return _signatures;}
corelib/include/rtabmap/core/Parameters.h
+4 -3
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@@ -224,7 +224,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, DepthAsMask, bool, true, "Use depth image as mask when extracting features for vocabulary.");
RTABMAP_PARAM(Mem, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, StereoFromMotion, bool, false, uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, ImagePreDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, ImagePostDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
@@ -294,7 +294,8 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
RTABMAP_PARAM(SIFT, Gpu, bool, false, "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.");
RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0, "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features are produced by the detector.");
RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0, "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.");
RTABMAP_PARAM(SIFT, MaxGaussianThreshold, float, 0.0, uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()));
RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling.");
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
@@ -724,7 +725,7 @@ class RTABMAP_CORE_EXPORT Parameters
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(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kVisDepthAsMask().c_str()));
RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
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.");
corelib/include/rtabmap/core/camera/CameraImages.h
+3 -1
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@@ -102,10 +102,11 @@ public:
}
// 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
void setGroundTruthPath(const std::string & filePath, int format = 0)
void setGroundTruthPath(const std::string & filePath, int format = 0, const Transform & localTransform = Transform::getIdentity())
{
_groundTruthPath = filePath;
_groundTruthFormat = format;
_groundTruthLocalTransform = localTransform;
}
void setMaxPoseTimeDiff(double diff) {_maxPoseTimeDiff = diff;}
@@ -164,6 +165,7 @@ private:
int _odometryFormat;
std::string _groundTruthPath;
int _groundTruthFormat;
Transform _groundTruthLocalTransform;
double _maxPoseTimeDiff;
std::list<double> _stamps;