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Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.

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This commit is contained in:
matlabbe
2020-11-01 11:28:59 -05:00
parent 25c2a51ee3
commit 99275fba1d
13 changed files with 326 additions and 73 deletions
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22
tools/Info/main.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <signal.h>
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/VisualWord.h>
#include <rtabmap/utilite/UDirectory.h>
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UStl.h"
@@ -329,8 +330,27 @@ int main(int argc, char * argv[])
sessionsInOptGraphStr << *iter << "(" << mapIdsLinkedToLastGraph.count(*iter) << ")";
}
int lastWordIdId = 0;
int wordsDim = 0;
int wordsType = 0;
driver->getLastWordId(lastWordIdId);
if(lastWordIdId>0)
{
std::set<int> ids;
ids.insert(lastWordIdId);
std::list<VisualWord *> vws;
driver->loadWords(ids, vws);
if(!vws.empty())
{
wordsDim = vws.front()->getDescriptor().cols;
wordsType = vws.front()->getDescriptor().type();
delete vws.front();
vws.clear();
}
}
std::cout << (uFormat("%s%fs\n", pad("Total time:").c_str(), infoTotalTime));
std::cout << (uFormat("%s%d nodes and %d words\n", pad("LTM:").c_str(), (int)ids.size(), driver->getTotalDictionarySize()));
std::cout << (uFormat("%s%d nodes and %d words (dim=%d type=%s)\n", pad("LTM:").c_str(), (int)ids.size(), driver->getTotalDictionarySize(), wordsDim, wordsType==CV_8UC1?"8U":wordsType==CV_32FC1?"32F":uNumber2Str(wordsType).c_str()));
std::cout << (uFormat("%s%d nodes and %d words\n", pad("WM:").c_str(), driver->getLastNodesSize(), driver->getLastDictionarySize()));
std::cout << (uFormat("%s%d poses and %d links\n", pad("Global graph:").c_str(), odomPoses, links.size()));
std::cout << (uFormat("%s%d poses\n", pad("Optimized graph:").c_str(), (int)optimizedPoses.size(), links.size()));