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Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

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This commit is contained in:
matlabbe
2017-02-15 19:07:10 -05:00
parent 1be0d52051
commit af1cdadabd
40 changed files with 2090 additions and 1227 deletions
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2
corelib/include/rtabmap/core/DBReader.h
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@@ -87,6 +87,8 @@ private:
UTimer _timer;
std::set<int> _ids;
std::set<int>::iterator _currentId;
int _previousMapId;
cv::Mat _previousInfMatrix;
double _previousStamp;
int _previousMapID;
bool _calibrated;

12
corelib/include/rtabmap/core/EpipolarGeometry.h
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@@ -94,7 +94,8 @@ public:
static int findPairs(
const std::map<int, cv::KeyPoint> & wordsA,
const std::map<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
bool ignoreNegativeIds = true);
/**
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)]
@@ -103,7 +104,8 @@ public:
static int findPairs(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
bool ignoreNegativeIds = true);
/**
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
@@ -112,7 +114,8 @@ public:
static int findPairsUnique(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
bool ignoreNegativeIds = true);
/**
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (1,1b) (2,2) (4,4) (6a,6a) (6a,6b) (6b,6a) (6b,6b)]
@@ -121,7 +124,8 @@ public:
static int findPairsAll(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
bool ignoreNegativeIds = true);
static cv::Mat linearLSTriangulation(
cv::Point3d u, //homogenous image point (u,v,1)

1
corelib/include/rtabmap/core/Features2d.h
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@@ -135,6 +135,7 @@ public:
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints);
static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);

1
corelib/include/rtabmap/core/Memory.h
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@@ -263,6 +263,7 @@ private:
bool _rehearsalWeightIgnoredWhileMoving;
bool _useOdometryFeatures;
bool _createOccupancyGrid;
int _visMaxFeatures;
int _idCount;
int _idMapCount;

4
corelib/include/rtabmap/core/Signature.h
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@@ -102,10 +102,11 @@ public:
void removeAllWords();
void removeWord(int wordId);
void changeWordsRef(int oldWordId, int activeWordId);
void setWords(const std::multimap<int, cv::KeyPoint> & words) {_enabled = false;_words = words;}
void setWords(const std::multimap<int, cv::KeyPoint> & words);
bool isEnabled() const {return _enabled;}
void setEnabled(bool enabled) {_enabled = enabled;}
const std::multimap<int, cv::KeyPoint> & getWords() const {return _words;}
int getInvalidWordsCount() const {return _invalidWordsCount;}
const std::map<int, int> & getWordsChanged() const {return _wordsChanged;}
const std::multimap<int, cv::Mat> & getWordsDescriptors() const {return _wordsDescriptors;}
void setWordsDescriptors(const std::multimap<int, cv::Mat> & descriptors) {_wordsDescriptors = descriptors;}
@@ -142,6 +143,7 @@ private:
std::multimap<int, cv::Mat> _wordsDescriptors;
std::map<int, int> _wordsChanged; // <oldId, newId>
bool _enabled;
int _invalidWordsCount;
Transform _pose;
Transform _groundTruthPose;

1
corelib/include/rtabmap/core/Statistics.h
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@@ -61,6 +61,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Hypothesis_reactivated,);
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Visual_matches,);
RTABMAP_STATS(Loop, Last_id,);
RTABMAP_STATS(Loop, Optimization_max_error, m);
RTABMAP_STATS(Loop, Optimization_error, );