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Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.

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This commit is contained in:
matlabbe
2020-09-28 10:29:14 -04:00
parent c5158cade5
commit 933ac736f1
13 changed files with 257 additions and 82 deletions
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13
guilib/src/PreferencesDialog.cpp
View File

@@ -194,7 +194,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//SURF
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(12, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(12, 0, Qt::UserRole - 1);
#endif
// SIFT
@@ -210,10 +212,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(12, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(12, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_ORB_OCTREE
@@ -878,6 +882,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_dictionary_strategy->setObjectName(Parameters::kKpNNStrategy().c_str());
_ui->checkBox_dictionary_incremental->setObjectName(Parameters::kKpIncrementalDictionary().c_str());
_ui->checkBox_kp_incrementalFlann->setObjectName(Parameters::kKpIncrementalFlann().c_str());
_ui->checkBox_kp_byteToFloat->setObjectName(Parameters::kKpByteToFloat().c_str());
_ui->surf_doubleSpinBox_rebalancingFactor->setObjectName(Parameters::kKpFlannRebalancingFactor().c_str());
_ui->comboBox_detector_strategy->setObjectName(Parameters::kKpDetectorStrategy().c_str());
_ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str());
@@ -2962,7 +2967,7 @@ bool PreferencesDialog::validateForm()
#ifndef RTABMAP_NONFREE
// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
if(_ui->comboBox_detector_strategy->currentIndex() <= 1 || _ui->comboBox_detector_strategy->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
@@ -2970,7 +2975,7 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->vis_feature_detector->currentIndex() <= 1)
if(_ui->vis_feature_detector->currentIndex() <= 1 || _ui->vis_feature_detector->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
@@ -2983,7 +2988,7 @@ bool PreferencesDialog::validateForm()
#ifndef RTABMAP_NONFREE
// verify that SURF cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() < 1)
if(_ui->comboBox_detector_strategy->currentIndex() < 1 || _ui->comboBox_detector_strategy->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF) is not available. RTAB-Map is not built "
@@ -2991,7 +2996,7 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSift);
}
// BOW Reextract features type
if(_ui->vis_feature_detector->currentIndex() < 1)
if(_ui->vis_feature_detector->currentIndex() < 1 || _ui->vis_feature_detector->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF) is not available. RTAB-Map is not built "

45
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-366</y>
<y>-1179</y>
<width>686</width>
<height>3236</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8964,6 +8964,11 @@ generate the number of words requested.</string>
<string>SuperPoint Torch</string>
</property>
</item>
<item>
<property name="text">
<string>SURF+FREAK</string>
</property>
</item>
</widget>
</item>
<item row="7" column="0">
@@ -9566,7 +9571,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_260">
<property name="text">
<string>When using a FLANN-based nearest neighbor strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor below in size).</string>
@@ -9579,7 +9584,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_kp_incrementalFlann">
<property name="text">
<string/>
@@ -9589,7 +9594,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_451">
<property name="text">
<string>Factor used when rebuilding the incremental FLANN index. Set 1 to disable.</string>
@@ -9602,7 +9607,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_rebalancingFactor">
<property name="decimals">
<number>1</number>
@@ -9621,6 +9626,29 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_556">
<property name="text">
<string>For FLANN KdTree, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_kp_byteToFloat">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -18216,6 +18244,11 @@ Lower the ratio -&gt; higher the precision.</string>
<string>SuperPoint Torch</string>
</property>
</item>
<item>
<property name="text">
<string>SURF+FREAK</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">