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Update 0.15.4.

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Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
This commit is contained in:
matlabbe
2018-02-01 22:17:46 -05:00
parent 9f80f4ac42
commit 977d21eed5
76 changed files with 3844 additions and 1307 deletions
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corelib/src/FlannIndex.cpp
+19 -10
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@@ -38,7 +38,8 @@ FlannIndex::FlannIndex():
featuresType_(0),
featuresDim_(0),
isLSH_(false),
useDistanceL1_(false)
useDistanceL1_(false),
rebalancingFactor_(2.0f)
{
}
FlannIndex::~FlannIndex()
@@ -134,7 +135,8 @@ unsigned int FlannIndex::memoryUsed() const
void FlannIndex::buildLinearIndex(
const cv::Mat & features,
bool useDistanceL1)
bool useDistanceL1,
float rebalancingFactor)
{
this->release();
UASSERT(index_ == 0);
@@ -142,6 +144,7 @@ void FlannIndex::buildLinearIndex(
featuresType_ = features.type();
featuresDim_ = features.cols;
useDistanceL1_ = useDistanceL1;
rebalancingFactor_ = rebalancingFactor;
rtflann::LinearIndexParams params;
@@ -180,7 +183,8 @@ void FlannIndex::buildLinearIndex(
void FlannIndex::buildKDTreeIndex(
const cv::Mat & features,
int trees,
bool useDistanceL1)
bool useDistanceL1,
float rebalancingFactor)
{
this->release();
UASSERT(index_ == 0);
@@ -188,6 +192,7 @@ void FlannIndex::buildKDTreeIndex(
featuresType_ = features.type();
featuresDim_ = features.cols;
useDistanceL1_ = useDistanceL1;
rebalancingFactor_ = rebalancingFactor;
rtflann::KDTreeIndexParams params(trees);
@@ -227,7 +232,8 @@ void FlannIndex::buildKDTreeSingleIndex(
const cv::Mat & features,
int leafMaxSize,
bool reorder,
bool useDistanceL1)
bool useDistanceL1,
float rebalancingFactor)
{
this->release();
UASSERT(index_ == 0);
@@ -235,6 +241,7 @@ void FlannIndex::buildKDTreeSingleIndex(
featuresType_ = features.type();
featuresDim_ = features.cols;
useDistanceL1_ = useDistanceL1;
rebalancingFactor_ = rebalancingFactor;
rtflann::KDTreeSingleIndexParams params(leafMaxSize, reorder);
@@ -274,7 +281,8 @@ void FlannIndex::buildLSHIndex(
const cv::Mat & features,
unsigned int table_number,
unsigned int key_size,
unsigned int multi_probe_level)
unsigned int multi_probe_level,
float rebalancingFactor)
{
this->release();
UASSERT(index_ == 0);
@@ -282,6 +290,7 @@ void FlannIndex::buildLSHIndex(
featuresType_ = features.type();
featuresDim_ = features.cols;
useDistanceL1_ = true;
rebalancingFactor_ = rebalancingFactor;
rtflann::Matrix<unsigned char> dataset(features.data, features.rows, features.cols);
index_ = new rtflann::Index<rtflann::Hamming<unsigned char> >(dataset, rtflann::LshIndexParams(12, 20, 2));
@@ -315,8 +324,8 @@ unsigned int FlannIndex::addPoints(const cv::Mat & features)
rtflann::Index<rtflann::Hamming<unsigned char> > * index = (rtflann::Index<rtflann::Hamming<unsigned char> >*)index_;
removedPts = index->removedCount();
index->addPoints(points, 0);
// Rebuild index if it doubles in size
if(index->sizeAtBuild() * 2 < index->size()+index->removedCount())
// Rebuild index if it is now X times in size
if(rebalancingFactor_ > 1.0f && size_t(float(index->sizeAtBuild()) * rebalancingFactor_) < index->size()+index->removedCount())
{
UDEBUG("Rebuilding FLANN index: %d -> %d", (int)index->sizeAtBuild(), (int)(index->size()+index->removedCount()));
index->buildIndex();
@@ -333,7 +342,7 @@ unsigned int FlannIndex::addPoints(const cv::Mat & features)
removedPts = index->removedCount();
index->addPoints(points, 0);
// Rebuild index if it doubles in size
if(index->sizeAtBuild() * 2 < index->size()+index->removedCount())
if(rebalancingFactor_ > 1.0f && size_t(float(index->sizeAtBuild()) * rebalancingFactor_) < index->size()+index->removedCount())
{
UDEBUG("Rebuilding FLANN index: %d -> %d", (int)index->sizeAtBuild(), (int)(index->size()+index->removedCount()));
index->buildIndex();
@@ -347,7 +356,7 @@ unsigned int FlannIndex::addPoints(const cv::Mat & features)
removedPts = index->removedCount();
index->addPoints(points, 0);
// Rebuild index if it doubles in size
if(index->sizeAtBuild() * 2 < index->size()+index->removedCount())
if(rebalancingFactor_ > 1.0f && size_t(float(index->sizeAtBuild()) * rebalancingFactor_) < index->size()+index->removedCount())
{
UDEBUG("Rebuilding FLANN index: %d -> %d", (int)index->sizeAtBuild(), (int)(index->size()+index->removedCount()));
index->buildIndex();
@@ -361,7 +370,7 @@ unsigned int FlannIndex::addPoints(const cv::Mat & features)
removedPts = index->removedCount();
index->addPoints(points, 0);
// Rebuild index if it doubles in size
if(index->sizeAtBuild() * 2 < index->size()+index->removedCount())
if(rebalancingFactor_ > 1.0f && size_t(float(index->sizeAtBuild()) * rebalancingFactor_) < index->size()+index->removedCount())
{
UDEBUG("Rebuilding FLANN index: %d -> %d", (int)index->sizeAtBuild(), (int)(index->size()+index->removedCount()));
index->buildIndex();