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.

CMakeLists.txt

@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 20)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_PATCH_VERSION 4)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

corelib/include/rtabmap/core/Features2d.h

@@ -115,7 +115,8 @@ public:
 		kFeatureGfttOrb=8,  //new 0.10.11
 		kFeatureKaze=9,     //new 0.13.2
 		kFeatureOrbOctree=10, //new 0.19.2
-		kFeatureSuperPointTorch=11}; //new 0.19.7
+		kFeatureSuperPointTorch=11, //new 0.19.7
+		kFeatureSurfFreak=12}; //new 0.20.4
 	static std::string typeName(Type type)
 	{
 		switch(type){
@@ -143,6 +144,8 @@ public:
 			return "ORB-OCTREE";
 		case kFeatureSuperPointTorch:
 			return "SUPERPOINT";
+		case kFeatureSurfFreak:
+			return "SURF+Freak";
 		default:
 			return "Unknown";
 		}
@@ -455,6 +458,28 @@ private:
 	cv::Ptr<CV_FREAK> _freak;
 };
 
+//SURF_FREAK
+class RTABMAP_EXP SURF_FREAK : public SURF
+{
+public:
+	SURF_FREAK(const ParametersMap & parameters = ParametersMap());
+	virtual ~SURF_FREAK();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const {return kFeatureSurfFreak;}
+
+private:
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+private:
+	bool orientationNormalized_;
+	bool scaleNormalized_;
+	float patternScale_;
+	int nOctaves_;
+
+	cv::Ptr<CV_FREAK> _freak;
+};
+
 //GFTT_ORB
 class RTABMAP_EXP GFTT_ORB : public GFTT
 {

corelib/include/rtabmap/core/Parameters.h

@@ -236,6 +236,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Kp, IncrementalDictionary,    bool, true,   "");
     RTABMAP_PARAM(Kp, IncrementalFlann,         bool, true,   uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()));
     RTABMAP_PARAM(Kp, FlannRebalancingFactor,   float, 2.0,   uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()));
+    RTABMAP_PARAM(Kp, ByteToFloat,              bool, true,   uFormat("For %s=1, 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.", kKpNNStrategy().c_str()));
     RTABMAP_PARAM(Kp, MaxDepth,                 float, 0,     "Filter extracted keypoints by depth (0=inf).");
     RTABMAP_PARAM(Kp, MinDepth,                 float, 0,     "Filter extracted keypoints by depth.");
     RTABMAP_PARAM(Kp, MaxFeatures,              int, 500,     "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
@@ -243,9 +244,9 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Kp, NndrRatio,                float, 0.8,   "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
 #if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
     // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch 12=SURF/FREAK.");
 #else
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch 12=SURF/FREAK.");
 #endif
     RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed,      bool, true,   "Use of the td-idf strategy to compute the likelihood.");
     RTABMAP_PARAM(Kp, Parallelized,             bool, true,   "If the dictionary update and signature creation were parallelized.");
@@ -586,9 +587,9 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Vis, Iterations,               int, 300,      "Maximum iterations to compute the transform.");
 #if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
     // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
+    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch 12=SURF/FREAK.");
 #else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
+    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch 12=SURF/FREAK.");
 #endif
     RTABMAP_PARAM(Vis, MaxFeatures,              int, 1000,   "0 no limits.");
     RTABMAP_PARAM(Vis, MaxDepth,                  float, 0,   "Max depth of the features (0 means no limit).");

corelib/include/rtabmap/core/VWDictionary.h

@@ -101,7 +101,7 @@ public:
 	int getTotalActiveReferences() const {return _totalActiveReferences;}
 	unsigned int getIndexedWordsCount() const;
 	unsigned int getIndexMemoryUsed() const;
-	void setNNStrategy(NNStrategy strategy);
+	bool setNNStrategy(NNStrategy strategy); // Return true if the search tree has been re-initialized
 	bool isIncremental() const {return _incrementalDictionary;}
 	bool isIncrementalFlann() const {return _incrementalFlann;}
 	void setIncrementalDictionary();
@@ -117,8 +117,8 @@ public:
 	void deleteUnusedWords();
 
 public:
-	static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn);
+	static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat = true);
-	static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn);
+	static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn, bool byteToFloat = true);
 
 protected:
 	int getNextId();
@@ -131,6 +131,7 @@ private:
 	bool _incrementalDictionary;
 	bool _incrementalFlann;
 	float _rebalancingFactor;
+	bool _byteToFloat;
 	float _nndrRatio;
 	std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
 	std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)

corelib/src/DBDriverSqlite3.cpp

@@ -2377,6 +2377,7 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildre
 			query << "INNER JOIN Link ";
 			query << "ON id = to_id "; // use to_id to ignore all children (which don't have link pointing on them)
 			query << "WHERE from_id != to_id "; // ignore self referring links
+			query << "AND weight>-9 "; //ignore invalid nodes
 		}
 
 		if(ignoreBadSignatures)
@@ -3622,6 +3623,7 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
 		int descriptorSize;
 		const void * descriptor;
 		int dRealSize;
+		unsigned long dRealSizeTotal = 0;
 		for(std::set<int>::const_iterator iter=wordIds.begin(); iter!=wordIds.end(); ++iter)
 		{
 			// bind id
@@ -3654,6 +3656,7 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
 				}
 
 				memcpy(d.data, descriptor, dRealSize);
+				dRealSizeTotal+=dRealSize;
 				VisualWord * vw = new VisualWord(*iter, d);
 				if(vw)
 				{
@@ -3675,7 +3678,7 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
 		rc = sqlite3_finalize(ppStmt);
 		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
 
-		ULOGGER_DEBUG("Time=%fs", timer.ticks());
+		UDEBUG("Time=%fs (%d words, %lu MB)", timer.ticks(), (int)vws.size(), dRealSizeTotal/1000000);
 
 		if(wordIds.size() != loaded.size())
 		{

corelib/src/Features2d.cpp

@@ -511,7 +511,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 
 #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 #ifndef RTABMAP_NONFREE
-	if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift)
+	if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift || type == Feature2D::kFeatureSurfFreak)
 	{
 #if CV_MAJOR_VERSION < 3
 		UWARN("SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. GFTT/ORB is used instead.");
@@ -524,7 +524,8 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 	if(type == Feature2D::kFeatureFastBrief ||
 	   type == Feature2D::kFeatureFastFreak ||
 	   type == Feature2D::kFeatureGfttBrief ||
-	   type == Feature2D::kFeatureGfttFreak)
+	   type == Feature2D::kFeatureGfttFreak ||
+	   type == Feature2D::kFeatureSurfFreak)
 	{
 		UWARN("BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.");
 		type = Feature2D::kFeatureGfttOrb;
@@ -535,7 +536,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 #else // >= 4.4.0 >= 3.4.11
 
 #ifndef RTABMAP_NONFREE
-	if(type == Feature2D::kFeatureSurf)
+	if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSurfFreak)
 	{
 		UWARN("SURF features cannot be used because OpenCV was not built with nonfree module. SIFT is used instead.");
 		type = Feature2D::kFeatureSift;
@@ -614,6 +615,9 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 		feature2D = new SuperPointTorch(parameters);
 		break;
 #endif
+	case Feature2D::kFeatureSurfFreak:
+		feature2D = new SURF_FREAK(parameters);
+		break;
 #ifdef RTABMAP_NONFREE
 	default:
 		feature2D = new SURF(parameters);
@@ -1724,6 +1728,59 @@ cv::Mat GFTT_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
 	return descriptors;
 }
 
+//////////////////////////
+//SURF-FREAK
+//////////////////////////
+SURF_FREAK::SURF_FREAK(const ParametersMap & parameters) :
+	SURF(parameters),
+	orientationNormalized_(Parameters::defaultFREAKOrientationNormalized()),
+	scaleNormalized_(Parameters::defaultFREAKScaleNormalized()),
+	patternScale_(Parameters::defaultFREAKPatternScale()),
+	nOctaves_(Parameters::defaultFREAKNOctaves())
+{
+	parseParameters(parameters);
+}
+
+SURF_FREAK::~SURF_FREAK()
+{
+}
+
+void SURF_FREAK::parseParameters(const ParametersMap & parameters)
+{
+	SURF::parseParameters(parameters);
+
+	Parameters::parse(parameters, Parameters::kFREAKOrientationNormalized(), orientationNormalized_);
+	Parameters::parse(parameters, Parameters::kFREAKScaleNormalized(), scaleNormalized_);
+	Parameters::parse(parameters, Parameters::kFREAKPatternScale(), patternScale_);
+	Parameters::parse(parameters, Parameters::kFREAKNOctaves(), nOctaves_);
+
+#if CV_MAJOR_VERSION < 3
+	_freak = cv::Ptr<CV_FREAK>(new CV_FREAK(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_));
+#else
+#ifdef HAVE_OPENCV_XFEATURES2D
+	_freak = CV_FREAK::create(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_);
+#else
+	UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
+#endif
+#endif
+}
+
+cv::Mat SURF_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
+{
+	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
+	cv::Mat descriptors;
+#if CV_MAJOR_VERSION < 3
+	_freak->compute(image, keypoints, descriptors);
+#else
+#ifdef HAVE_OPENCV_XFEATURES2D
+	_freak->compute(image, keypoints, descriptors);
+#else
+	UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
+#endif
+#endif
+	return descriptors;
+}
+
 //////////////////////////
 //GFTT-ORB
 //////////////////////////

corelib/src/Memory.cpp

@@ -1131,7 +1131,7 @@ void Memory::moveSignatureToWMFromSTM(int id, int * reducedTo)
 					}
 				}
 
-				this->moveToTrash(s, _notLinkedNodesKeptInDb);
+				this->moveToTrash(s, false);
 				s = 0;
 			}
 		}
@@ -2368,7 +2368,7 @@ void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> *
 			}
 			s->removeLinks(true); // remove all links, but keep self referring link
 			s->removeLandmarks(); // remove all landmarks
-			s->setWeight(0);
+			s->setWeight(-9); // invalid
 			s->setLabel(""); // reset label
 		}
 		else

corelib/src/RegistrationVis.cpp

@@ -213,6 +213,10 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
 	{
 		uInsert(_featureParameters, ParametersPair(Parameters::kKpNndrRatio(), parameters.at(Parameters::kVisCorNNDR())));
 	}
+	if(uContains(parameters, Parameters::kKpByteToFloat()))
+	{
+		uInsert(_featureParameters, ParametersPair(Parameters::kKpByteToFloat(), parameters.at(Parameters::kKpByteToFloat())));
+	}
 	if(uContains(parameters, Parameters::kVisFeatureType()))
 	{
 		uInsert(_featureParameters, ParametersPair(Parameters::kKpDetectorStrategy(), parameters.at(Parameters::kVisFeatureType())));

corelib/src/Rtabmap.cpp

@@ -432,6 +432,16 @@ void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)
 	{
 		if(databaseSaved)
 		{
+			if(_memory->isGraphReduced() && _memory->isIncremental())
+			{
+				// Force reducing graph, then remove filtered nodes from the optimized poses
+				std::map<int, int> reducedIds;
+				_memory->incrementMapId(&reducedIds);
+				for(std::map<int, int>::iterator iter=reducedIds.begin(); iter!=reducedIds.end(); ++iter)
+				{
+					_optimizedPoses.erase(iter->first);
+				}
+			}
 			_memory->saveOptimizedPoses(_optimizedPoses, _lastLocalizationPose);
 		}
 		_memory->close(databaseSaved, true, ouputDatabasePath);

corelib/src/VWDictionary.cpp

@@ -65,6 +65,7 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
 	_incrementalDictionary(Parameters::defaultKpIncrementalDictionary()),
 	_incrementalFlann(Parameters::defaultKpIncrementalFlann()),
 	_rebalancingFactor(Parameters::defaultKpFlannRebalancingFactor()),
+	_byteToFloat(Parameters::defaultKpByteToFloat()),
 	_nndrRatio(Parameters::defaultKpNndrRatio()),
 	_newDictionaryPath(Parameters::defaultKpDictionaryPath()),
 	_newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()),
@@ -90,6 +91,8 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kKpNewWordsComparedTogether(), _newWordsComparedTogether);
 	Parameters::parse(parameters, Parameters::kKpIncrementalFlann(), _incrementalFlann);
 	Parameters::parse(parameters, Parameters::kKpFlannRebalancingFactor(), _rebalancingFactor);
+	bool byteToFloat = _byteToFloat;
+	Parameters::parse(parameters, Parameters::kKpByteToFloat(), _byteToFloat);
 
 	UASSERT_MSG(_nndrRatio > 0.0f, uFormat("String=%s value=%f", uContains(parameters, Parameters::kKpNndrRatio())?parameters.at(Parameters::kKpNndrRatio()).c_str():"", _nndrRatio).c_str());
 
@@ -104,10 +107,19 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 	}
 
 	// Verifying hypotheses strategy
+	bool treeUpdated = false;
 	if((iter=parameters.find(Parameters::kKpNNStrategy())) != parameters.end())
 	{
 		NNStrategy nnStrategy = (NNStrategy)std::atoi((*iter).second.c_str());
-		this->setNNStrategy(nnStrategy);
+		treeUpdated = this->setNNStrategy(nnStrategy);
+	}
+	if(!treeUpdated && byteToFloat!=_byteToFloat && _strategy == kNNFlannKdTree)
+	{
+		UINFO("KDTree: Binary to Float conversion approach has changed, re-initialize kd-tree.");
+		_dataTree = cv::Mat();
+		_notIndexedWords = uKeysSet(_visualWords);
+		_removedIndexedWords.clear();
+		this->update();
 	}
 
 	if(incrementalDictionary)
@@ -277,7 +289,7 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 	_newDictionaryPath = dictionaryPath;
 }
 
-void VWDictionary::setNNStrategy(NNStrategy strategy)
+bool VWDictionary::setNNStrategy(NNStrategy strategy)
 {
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
@@ -319,11 +331,14 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
 	_strategy = strategy;
 	if(update)
 	{
+		UINFO("Nearest neighbor strategy has changed, re-initialize search tree.");
 		_dataTree = cv::Mat();
 		_notIndexedWords = uKeysSet(_visualWords);
 		_removedIndexedWords.clear();
 		this->update();
+		return true;
 	}
+	return false;
 }
 
 int VWDictionary::getLastIndexedWordId() const
@@ -348,59 +363,75 @@ unsigned int VWDictionary::getIndexMemoryUsed() const
 	return _flannIndex->memoryUsed();
 }
 
-cv::Mat VWDictionary::convertBinTo32F(const cv::Mat & descriptorsIn)
+cv::Mat VWDictionary::convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat)
 {
-	// Old approach
+	if(byteToFloat)
-	//cv::Mat descriptorsOut;
-	//descriptorsIn.convertTo(descriptorsOut, CV_32F);
-	//return descriptorsOut;
-
-	// New approach
-	UASSERT(descriptorsIn.type() == CV_8UC1);
-	cv::Mat descriptorsOut(descriptorsIn.rows, descriptorsIn.cols*8, CV_32FC1);
-	for(int i=0; i<descriptorsIn.rows; ++i)
 	{
-		const unsigned char * ptrIn = descriptorsIn.ptr(i);
+		// Old approach
-		float * ptrOut = descriptorsOut.ptr<float>(i);
+		cv::Mat descriptorsOut;
-		for(int j=0; j<descriptorsIn.cols; ++j)
+		descriptorsIn.convertTo(descriptorsOut, CV_32F);
-		{
+		return descriptorsOut;
-			int jo = j*8;
+	}
-			ptrOut[jo] = (ptrIn[j] & 1) == 1?1.0f:0.0f;
+	else
-			ptrOut[jo+1] = (ptrIn[j] & (1<<1)) != 0?1.0f:0.0f;
+	{
-			ptrOut[jo+2] = (ptrIn[j] & (1<<2)) != 0?1.0f:0.0f;
+		// New approach
-			ptrOut[jo+3] = (ptrIn[j] & (1<<3)) != 0?1.0f:0.0f;
+		UASSERT(descriptorsIn.type() == CV_8UC1);
-			ptrOut[jo+4] = (ptrIn[j] & (1<<4)) != 0?1.0f:0.0f;
+		cv::Mat descriptorsOut(descriptorsIn.rows, descriptorsIn.cols*8, CV_32FC1);
-			ptrOut[jo+5] = (ptrIn[j] & (1<<5)) != 0?1.0f:0.0f;
+		for(int i=0; i<descriptorsIn.rows; ++i)
-			ptrOut[jo+6] = (ptrIn[j] & (1<<6)) != 0?1.0f:0.0f;
+		{
-			ptrOut[jo+7] = (ptrIn[j] & (1<<7)) != 0?1.0f:0.0f;
+			const unsigned char * ptrIn = descriptorsIn.ptr(i);
-		}
+			float * ptrOut = descriptorsOut.ptr<float>(i);
+			for(int j=0; j<descriptorsIn.cols; ++j)
+			{
+				int jo = j*8;
+				ptrOut[jo] = (ptrIn[j] & 1) == 1?1.0f:0.0f;
+				ptrOut[jo+1] = (ptrIn[j] & (1<<1)) != 0?1.0f:0.0f;
+				ptrOut[jo+2] = (ptrIn[j] & (1<<2)) != 0?1.0f:0.0f;
+				ptrOut[jo+3] = (ptrIn[j] & (1<<3)) != 0?1.0f:0.0f;
+				ptrOut[jo+4] = (ptrIn[j] & (1<<4)) != 0?1.0f:0.0f;
+				ptrOut[jo+5] = (ptrIn[j] & (1<<5)) != 0?1.0f:0.0f;
+				ptrOut[jo+6] = (ptrIn[j] & (1<<6)) != 0?1.0f:0.0f;
+				ptrOut[jo+7] = (ptrIn[j] & (1<<7)) != 0?1.0f:0.0f;
+			}
+		}
+		return descriptorsOut;
 	}
-	return descriptorsOut;
 }
 
-cv::Mat VWDictionary::convert32FToBin(const cv::Mat & descriptorsIn)
+cv::Mat VWDictionary::convert32FToBin(const cv::Mat & descriptorsIn, bool byteToFloat)
 {
-	UASSERT(descriptorsIn.type() == CV_32FC1 && descriptorsIn.cols % 8 == 0);
+	if(byteToFloat)
-	cv::Mat descriptorsOut(descriptorsIn.rows, descriptorsIn.cols/8, CV_8UC1);
-	for(int i=0; i<descriptorsIn.rows; ++i)
 	{
-		const float * ptrIn = descriptorsIn.ptr<float>(i);
+		// Old approach
-		unsigned char * ptrOut = descriptorsOut.ptr(i);
+		cv::Mat descriptorsOut;
-		for(int j=0; j<descriptorsOut.cols; ++j)
+		descriptorsIn.convertTo(descriptorsOut, CV_8UC1);
-		{
+		return descriptorsOut;
-			int jo = j*8;
+	}
-			ptrOut[j] =
+	else
-					(unsigned char)(ptrIn[jo] == 0?0:1) |
+	{
-					(ptrIn[jo+1] == 0?0:(1<<1)) |
+		// New approach
-					(ptrIn[jo+2] == 0?0:(1<<2)) |
+		UASSERT(descriptorsIn.type() == CV_32FC1 && descriptorsIn.cols % 8 == 0);
-					(ptrIn[jo+3] == 0?0:(1<<3)) |
+		cv::Mat descriptorsOut(descriptorsIn.rows, descriptorsIn.cols/8, CV_8UC1);
-					(ptrIn[jo+4] == 0?0:(1<<4)) |
+		for(int i=0; i<descriptorsIn.rows; ++i)
-					(ptrIn[jo+5] == 0?0:(1<<5)) |
+		{
-					(ptrIn[jo+6] == 0?0:(1<<6)) |
+			const float * ptrIn = descriptorsIn.ptr<float>(i);
-					(ptrIn[jo+7] == 0?0:(1<<7));
+			unsigned char * ptrOut = descriptorsOut.ptr(i);
-		}
+			for(int j=0; j<descriptorsOut.cols; ++j)
+			{
+				int jo = j*8;
+				ptrOut[j] =
+						(unsigned char)(ptrIn[jo] == 0?0:1) |
+						(ptrIn[jo+1] == 0?0:(1<<1)) |
+						(ptrIn[jo+2] == 0?0:(1<<2)) |
+						(ptrIn[jo+3] == 0?0:(1<<3)) |
+						(ptrIn[jo+4] == 0?0:(1<<4)) |
+						(ptrIn[jo+5] == 0?0:(1<<5)) |
+						(ptrIn[jo+6] == 0?0:(1<<6)) |
+						(ptrIn[jo+7] == 0?0:(1<<7));
+			}
+		}
+		return descriptorsOut;
 	}
-	return descriptorsOut;
 }
 
 void VWDictionary::update()
@@ -451,7 +482,7 @@ void VWDictionary::update()
 						useDistanceL1_ = true;
 						if(_strategy == kNNFlannKdTree)
 						{
-							descriptor = convertBinTo32F(w->getDescriptor());
+							descriptor = convertBinTo32F(w->getDescriptor(), _byteToFloat);
 						}
 						else
 						{
@@ -543,7 +574,10 @@ void VWDictionary::update()
 					if(_strategy == kNNFlannKdTree)
 					{
 						type = CV_32F;
-						dim *= 8;
+						if(!_byteToFloat)
+						{
+							dim *= 8;
+						}
 					}
 					else
 					{
@@ -568,7 +602,7 @@ void VWDictionary::update()
 					{
 						if(_strategy == kNNFlannKdTree)
 						{
-							descriptor = convertBinTo32F(iter->second->getDescriptor());
+							descriptor = convertBinTo32F(iter->second->getDescriptor(), _byteToFloat);
 						}
 						else
 						{
@@ -736,7 +770,7 @@ std::list<int> VWDictionary::addNewWords(
 		useDistanceL1_ = true;
 		if(_strategy == kNNFlannKdTree)
 		{
-			descriptors = convertBinTo32F(descriptorsIn);
+			descriptors = convertBinTo32F(descriptorsIn, _byteToFloat);
 		}
 		else
 		{
@@ -1074,7 +1108,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
 		{
 			if(_strategy == kNNFlannKdTree)
 			{
-				query = convertBinTo32F(queryIn);
+				query = convertBinTo32F(queryIn, _byteToFloat);
 			}
 			else
 			{
@@ -1202,7 +1236,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
 				{
 					if(_strategy == kNNFlannKdTree)
 					{
-						descriptor = convertBinTo32F(vw->getDescriptor());
+						descriptor = convertBinTo32F(vw->getDescriptor(), _byteToFloat);
 					}
 					else
 					{

guilib/src/PreferencesDialog.cpp

@@ -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 "

guilib/src/ui/preferencesDialog.ui

@@ -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">

tools/Info/main.cpp

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/DBDriver.h>
 #include <rtabmap/utilite/UDirectory.h>
 #include "rtabmap/utilite/UFile.h"
+#include "rtabmap/utilite/UStl.h"
 
 using namespace rtabmap;
 
@@ -229,7 +230,7 @@ int main(int argc, char * argv[])
 		driver->getAllNodeIds(ids);
 		Transform lastLocalization;
 		std::map<int, Transform> optimizedPoses = driver->loadOptimizedPoses(&lastLocalization);
-		std::set<int> mapsLinkedToLastGraph;
+		std::multimap<int, int> mapIdsLinkedToLastGraph;
 		int lastMapId=0;
 		double previousStamp = 0.0f;
 		Transform previousPose;
@@ -265,7 +266,7 @@ int main(int argc, char * argv[])
 			}
 			if(optimizedPoses.find(id) != optimizedPoses.end())
 			{
-				mapsLinkedToLastGraph.insert(mapId);
+				mapIdsLinkedToLastGraph.insert(std::make_pair(mapId, id));
 			}
 			if(iter!=ids.begin())
 			{
@@ -318,13 +319,14 @@ int main(int argc, char * argv[])
 		}
 
 		std::stringstream sessionsInOptGraphStr;
-		for(std::set<int>::iterator iter=mapsLinkedToLastGraph.begin(); iter!=mapsLinkedToLastGraph.end(); ++iter)
+		std::list<int> mapsLinkedToLastGraph = uUniqueKeys(mapIdsLinkedToLastGraph);
+		for(std::list<int>::iterator iter=mapsLinkedToLastGraph.begin(); iter!=mapsLinkedToLastGraph.end(); ++iter)
 		{
 			if(iter!=mapsLinkedToLastGraph.begin())
 			{
 				sessionsInOptGraphStr << ", ";
 			}
-			sessionsInOptGraphStr << *iter;
+			sessionsInOptGraphStr << *iter << "(" << mapIdsLinkedToLastGraph.count(*iter) << ")";
 		}
 
 		std::cout << (uFormat("%s%fs\n", pad("Total time:").c_str(), infoTotalTime));