Save intermediate node input features (#1698)

* Avoid removing nodes from STM when using CreateIntermediateNodes

* Clean up the data of the intermediate node when IntermediateNodeDataKept is false

* Save intermediate node input features

* Don't delete intermediate nodes

* comment typo

* Updated parameter description, bump patch for DBReader API chang

* When ID is not udpated to new one, don't disable words because that signature is still used in the bayes filter

* updated comment

* rtabmap-reprocess: support Rtabmap/DetectionRate when intermediate nodes are created and -skip option is not used

* Fixed smallMovement when rehearsal is not trigdered at the same time

* GUI: visualize rehearsal darkblue when intermediate nodes are used

* Fixed RtabmapThread not transfering input features on intermediate nodes

* Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working

---------

Co-authored-by: Borong Yuan <[email protected]>

corelib/include/rtabmap/core/DBReader.h

@@ -60,6 +60,7 @@ public:
 			 int stopMapId = -1,
 			 bool priorsIgnored = false,
 			 bool imuIgnored = false,
+			 bool intermediateNodesAreNormalNodes = false,
 			 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
@@ -76,6 +77,7 @@ public:
 			 int stopMapId = -1,
 			 bool priorsIgnored = false,
 			 bool imuIgnored = false,
+			 bool intermediateNodesAreNormalNodes = false,
 			 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
 	virtual ~DBReader();
 
@@ -106,6 +108,7 @@ private:
 	int _stopId;
 	std::vector<unsigned int> _cameraIndices;
 	bool _intermediateNodesIgnored;
+	bool _intermediateNodesAreNormalNodes;
 	bool _landmarksIgnored;
 	bool _featuresIgnored;
 	bool _priorsIgnored;

corelib/include/rtabmap/core/Memory.h

@@ -140,6 +140,7 @@ public:
 			float radius,
 			const std::map<int, Transform> & optimizedPoses,
 			int maxGraphDepth) const;
+	void convertToIntermediate(int locationId);
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
 	void saveLocationData(int locationId);
 	void removeLink(int idA, int idB);

corelib/include/rtabmap/core/Parameters.h

@@ -218,7 +218,7 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(Mem, ReduceGraph,                 bool, false,    uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
     RTABMAP_PARAM(Mem, RecentWmRatio,               float, 0.2,     "Ratio of locations after the last loop closure in WM that cannot be transferred.");
     RTABMAP_PARAM(Mem, TransferSortingByWeightId,   bool, false,    "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
-    RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne,  bool, false,    "On merge, update to new id. When false, no copy.");
+    RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne,  bool, false,    uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()));
     RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
     RTABMAP_PARAM(Mem, GenerateIds,                 bool, true,     "True=Generate location IDs, False=use input image IDs.");
     RTABMAP_PARAM(Mem, BadSignaturesIgnored,        bool, false,    "Bad signatures are ignored.");

corelib/include/rtabmap/core/SensorData.h

@@ -212,6 +212,12 @@ public:
 			_userDataCompressed.empty() &&
 			_keypoints.size() == 0 &&
 			_descriptors.empty() &&
+			_groundCellsRaw.empty() &&
+			_groundCellsCompressed.empty() &&
+			_obstacleCellsRaw.empty() &&
+			_obstacleCellsCompressed.empty() &&
+			_emptyCellsRaw.empty() &&
+			_emptyCellsCompressed.empty() &&
 			imu_.empty());
 	}
 
@@ -309,8 +315,6 @@ public:
 			const cv::Mat & empty,
 			float cellSize,
 			const cv::Point3f & viewPoint);
-	// remove raw occupancy grids
-	void clearOccupancyGridRaw() {_groundCellsRaw = cv::Mat(); _obstacleCellsRaw = cv::Mat();}
 	const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
 	const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
 	const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
@@ -355,12 +359,12 @@ public:
 	 * Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data.
 	 * Raw data are kept is set.
 	 */
-	void clearCompressedData(bool images = true, bool scan = true, bool userData = true);
+	void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
 	/**
 	 * Clear raw rgb/depth (left/right) images, raw laser scan and raw user data.
 	 * Compressed data are kept is set.
 	 */
-	void clearRawData(bool images = true, bool scan = true, bool userData = true);
+	void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
 
 	bool isPointVisibleFromCameras(const cv::Point3f & pt) const; // assuming point is in robot frame