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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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corelib/src/Signature.cpp
+43 -6
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@@ -44,7 +44,8 @@ Signature::Signature() :
_saved(false),
_modified(true),
_linksModified(true),
_enabled(false)
_enabled(false),
_invalidWordsCount(0)
{
}
@@ -66,6 +67,7 @@ Signature::Signature(
_modified(true),
_linksModified(true),
_enabled(false),
_invalidWordsCount(0),
_pose(pose),
_groundTruthPose(groundTruthPose),
_sensorData(sensorData)
@@ -87,6 +89,7 @@ Signature::Signature(const SensorData & data) :
_modified(true),
_linksModified(true),
_enabled(false),
_invalidWordsCount(0),
_pose(Transform::getIdentity()),
_groundTruthPose(data.groundTruth()),
_sensorData(data)
@@ -178,10 +181,12 @@ float Signature::compareTo(const Signature & s) const
{
float similarity = 0.0f;
const std::multimap<int, cv::KeyPoint> & words = s.getWords();
if(words.size() != 0 && _words.size() != 0)
if(!s.isBadSignature() && !this->isBadSignature())
{
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
unsigned int totalWords = _words.size()>words.size()?_words.size():words.size();
int totalWords = ((int)_words.size()-_invalidWordsCount)>((int)words.size()-s.getInvalidWordsCount())?((int)_words.size()-_invalidWordsCount):((int)words.size()-s.getInvalidWordsCount());
UASSERT(totalWords > 0);
EpipolarGeometry::findPairs(words, _words, pairs);
similarity = float(pairs.size()) / float(totalWords);
@@ -196,7 +201,15 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
{
std::list<cv::Point3f> pts = uValues(_words3, oldWordId);
std::list<cv::Mat> descriptors = uValues(_wordsDescriptors, oldWordId);
_words.erase(oldWordId);
if(oldWordId<=0)
{
_invalidWordsCount-=(int)_words.erase(oldWordId);
UASSERT(_invalidWordsCount>=0);
}
else
{
_words.erase(oldWordId);
}
_words3.erase(oldWordId);
_wordsDescriptors.erase(oldWordId);
_wordsChanged.insert(std::make_pair(oldWordId, activeWordId));
@@ -215,9 +228,24 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
}
}
void Signature::setWords(const std::multimap<int, cv::KeyPoint> & words)
{
_enabled = false;
_words = words;
_invalidWordsCount = 0;
for(std::multimap<int, cv::KeyPoint>::iterator iter=_words.begin(); iter!=_words.end(); ++iter)
{
if(iter->first>0)
{
break;
}
++_invalidWordsCount;
}
}
bool Signature::isBadSignature() const
{
return !_words.size();
return _words.size()-_invalidWordsCount <= 0;
}
void Signature::removeAllWords()
@@ -225,11 +253,20 @@ void Signature::removeAllWords()
_words.clear();
_words3.clear();
_wordsDescriptors.clear();
_invalidWordsCount = 0;
}
void Signature::removeWord(int wordId)
{
_words.erase(wordId);
if(wordId<=0)
{
_invalidWordsCount-=(int)_words.erase(wordId);
UASSERT(_invalidWordsCount>=0);
}
else
{
_words.erase(wordId);
}
_words3.erase(wordId);
_wordsDescriptors.clear();
}