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Increased version to 0.20.5

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Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
This commit is contained in:
matlabbe
2020-10-05 17:34:32 -04:00
parent bedc771fa4
commit bbccbd63e4
41 changed files with 1456 additions and 898 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/BayesFilter.h
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@@ -61,6 +61,8 @@ public:
cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
unsigned long getMemoryUsed() const;
private:
cv::Mat updatePrediction(const cv::Mat & oldPrediction,
const Memory * memory,

4
corelib/include/rtabmap/core/DBDriver.h
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@@ -131,7 +131,7 @@ public:
bool openConnection(const std::string & url, bool overwritten = false);
void closeConnection(bool save = true, const std::string & outputUrl = "");
bool isConnected() const;
long getMemoryUsed() const; // In bytes
unsigned long getMemoryUsed() const; // In bytes
std::string getDatabaseVersion() const;
long getNodesMemoryUsed() const;
long getLinksMemoryUsed() const;
@@ -188,7 +188,7 @@ protected:
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
virtual bool isConnectedQuery() const = 0;
virtual long getMemoryUsedQuery() const = 0; // In bytes
virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
virtual long getNodesMemoryUsedQuery() const = 0;
virtual long getLinksMemoryUsedQuery() const = 0;

4
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -54,7 +54,7 @@ protected:
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
virtual bool isConnectedQuery() const;
virtual long getMemoryUsedQuery() const; // In bytes
virtual unsigned long getMemoryUsedQuery() const; // In bytes
virtual bool getDatabaseVersionQuery(std::string & version) const;
virtual long getNodesMemoryUsedQuery() const;
virtual long getLinksMemoryUsedQuery() const;
@@ -189,7 +189,7 @@ protected:
std::string _version;
private:
long _memoryUsedEstimate;
unsigned long _memoryUsedEstimate;
bool _dbInMemory;
unsigned int _cacheSize;
int _journalMode;

125
corelib/include/rtabmap/core/EpipolarGeometry.h
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Parameters.h"
#include "rtabmap/utilite/UStl.h"
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <pcl/point_cloud.h>
@@ -91,41 +92,133 @@ public:
* if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)]
* realPairsCount = 4
*/
template<typename T>
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,
bool ignoreNegativeIds = true);
const std::map<int, T> & wordsA,
const std::map<int, T> & wordsB,
std::list<std::pair<int, std::pair<T, T> > > & pairs,
bool ignoreNegativeIds = true)
{
int realPairsCount = 0;
pairs.clear();
for(typename std::map<int, T>::const_iterator i=wordsA.begin(); i!=wordsA.end(); ++i)
{
if(!ignoreNegativeIds || (ignoreNegativeIds && i->first>=0))
{
std::map<int, cv::KeyPoint>::const_iterator ptB = wordsB.find(i->first);
if(ptB != wordsB.end())
{
pairs.push_back(std::pair<int, std::pair<T, T> >(i->first, std::make_pair(i->second, ptB->second)));
++realPairsCount;
}
}
}
return realPairsCount;
}
/**
* 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)]
* realPairsCount = 5
*/
template<typename T>
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,
bool ignoreNegativeIds = true);
const std::multimap<int, T> & wordsA,
const std::multimap<int, T> & wordsB,
std::list<std::pair<int, std::pair<T, T> > > & pairs,
bool ignoreNegativeIds = true)
{
const std::list<int> & ids = uUniqueKeys(wordsA);
typename std::multimap<int, T>::const_iterator iterA;
typename std::multimap<int, T>::const_iterator iterB;
pairs.clear();
int realPairsCount = 0;
for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
{
if(!ignoreNegativeIds || (ignoreNegativeIds && *i >= 0))
{
iterA = wordsA.find(*i);
iterB = wordsB.find(*i);
while(iterA != wordsA.end() && iterB != wordsB.end() && (*iterA).first == (*iterB).first && (*iterA).first == *i)
{
pairs.push_back(std::pair<int, std::pair<T, T> >(*i, std::make_pair((*iterA).second, (*iterB).second)));
++iterA;
++iterB;
++realPairsCount;
}
}
}
return realPairsCount;
}
/**
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
* realPairsCount = 5
*/
template<typename T>
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,
bool ignoreNegativeIds = true);
const std::multimap<int, T> & wordsA,
const std::multimap<int, T> & wordsB,
std::list<std::pair<int, std::pair<T, T> > > & pairs,
bool ignoreNegativeIds = true)
{
const std::list<int> & ids = uUniqueKeys(wordsA);
int realPairsCount = 0;
pairs.clear();
for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
{
if(!ignoreNegativeIds || (ignoreNegativeIds && *i>=0))
{
std::list<T> ptsA = uValues(wordsA, *i);
std::list<T> ptsB = uValues(wordsB, *i);
if(ptsA.size() == 1 && ptsB.size() == 1)
{
pairs.push_back(std::pair<int, std::pair<T, T> >(*i, std::pair<T, T>(ptsA.front(), ptsB.front())));
++realPairsCount;
}
else if(ptsA.size()>1 && ptsB.size()>1)
{
// just update the count
realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
}
}
}
return realPairsCount;
}
/**
* 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)]
* realPairsCount = 5
*/
template<typename T>
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,
bool ignoreNegativeIds = true);
const std::multimap<int, T> & wordsA,
const std::multimap<int, T> & wordsB,
std::list<std::pair<int, std::pair<T, T> > > & pairs,
bool ignoreNegativeIds = true)
{
const std::list<int> & ids = uUniqueKeys(wordsA);
pairs.clear();
int realPairsCount = 0;;
for(std::list<int>::const_iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{
if(!ignoreNegativeIds || (ignoreNegativeIds && *iter>=0))
{
std::list<T> ptsA = uValues(wordsA, *iter);
std::list<T> ptsB = uValues(wordsB, *iter);
realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
for(typename std::list<T>::iterator jter=ptsA.begin(); jter!=ptsA.end(); ++jter)
{
for(typename std::list<T>::iterator kter=ptsB.begin(); kter!=ptsB.end(); ++kter)
{
pairs.push_back(std::pair<int, std::pair<T, T> >(*iter, std::pair<T, T>(*jter, *kter)));
}
}
}
}
return realPairsCount;
}
static cv::Mat linearLSTriangulation(
cv::Point3d u, //homogenous image point (u,v,1)

6
corelib/include/rtabmap/core/FlannIndex.h
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@@ -43,8 +43,8 @@ public:
void release();
unsigned int indexedFeatures() const;
// return KB
unsigned int memoryUsed() const;
// return Bytes
unsigned long memoryUsed() const;
// Note that useDistanceL1 doesn't have any effect if LSH is used
void buildLinearIndex(
@@ -74,7 +74,7 @@ public:
int featuresType() const {return featuresType_;}
int featuresDim() const {return featuresDim_;}
unsigned int addPoints(const cv::Mat & features);
std::vector<unsigned int> addPoints(const cv::Mat & features);
void removePoint(unsigned int index);

12
corelib/include/rtabmap/core/Graph.h
View File

@@ -155,12 +155,20 @@ std::list<Link> RTABMAP_EXP findLinks(
std::multimap<int, Link> RTABMAP_EXP filterDuplicateLinks(
const std::multimap<int, Link> & links);
/**
* Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".
*/
std::multimap<int, Link> RTABMAP_EXP filterLinks(
const std::multimap<int, Link> & links,
Link::Type filteredType);
Link::Type filteredType,
bool inverted = false);
/**
* Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".
*/
std::map<int, Link> RTABMAP_EXP filterLinks(
const std::map<int, Link> & links,
Link::Type filteredType);
Link::Type filteredType,
bool inverted = false);
//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
std::map<int, Transform> RTABMAP_EXP frustumPosesFiltering(

8
corelib/include/rtabmap/core/Memory.h
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@@ -199,9 +199,10 @@ public:
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const;
void getNodeWordsAndGlobalDescriptors(int nodeId,
std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, cv::Point3f> & words3,
std::multimap<int, cv::Mat> & wordsDescriptors,
std::multimap<int, int> & words,
std::vector<cv::KeyPoint> & wordsKpts,
std::vector<cv::Point3f> & words3,
cv::Mat & wordsDescriptors,
std::vector<GlobalDescriptor> & globalDescriptors) const;
void getNodeCalibration(int nodeId,
std::vector<CameraModel> & models,
@@ -225,6 +226,7 @@ public:
virtual void dumpMemory(std::string directory) const;
virtual void dumpSignatures(const char * fileNameSign, bool words3D) const;
void dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const;
unsigned long getMemoryUsed() const; //Bytes
void generateGraph(const std::string & fileName, const std::set<int> & ids = std::set<int>());

2
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -104,6 +104,8 @@ public:
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
unsigned long getMemoryUsed() const;
private:
ParametersMap parameters_;
int cloudDecimation_;

1
corelib/include/rtabmap/core/RegistrationInfo.h
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@@ -75,6 +75,7 @@ public:
// RegistrationVis
int inliers;
float inliersRatio;
float inliersMeanDistance;
float inliersDistribution;
std::vector<int> inliersIDs;

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -136,11 +136,9 @@ public:
std::map<int, int> getWeights() const;
int getTotalMemSize() const;
double getLastProcessTime() const {return _lastProcessTime;};
std::multimap<int, cv::KeyPoint> getWords(int locationId) const;
bool isInSTM(int locationId) const;
bool isIDsGenerated() const;
const Statistics & getStatistics() const;
//bool getMetricData(int locationId, cv::Mat & rgb, cv::Mat & depth, float & depthConstant, Transform & pose, Transform & localTransform) const;
const std::map<int, Transform> & getLocalOptimizedPoses() const {return _optimizedPoses;}
const std::multimap<int, Link> & getLocalConstraints() const {return _constraints;}
Transform getPose(int locationId) const;

2
corelib/include/rtabmap/core/SensorData.h
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@@ -275,7 +275,7 @@ public:
void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
const Landmarks & landmarks() const {return _landmarks;}
long getMemoryUsed() const; // Return memory usage in Bytes
unsigned long getMemoryUsed() const; // Return memory usage in Bytes
/**
* Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data.
* Raw data are kept is set.

22
corelib/include/rtabmap/core/Signature.h
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@@ -104,19 +104,18 @@ public:
//visual words stuff
void removeAllWords();
void removeWord(int wordId);
void changeWordsRef(int oldWordId, int activeWordId);
void setWords(const std::multimap<int, cv::KeyPoint> & words);
void setWords(const std::multimap<int, int> & words, const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & words3, const cv::Mat & descriptors);
bool isEnabled() const {return _enabled;}
void setEnabled(bool enabled) {_enabled = enabled;}
const std::multimap<int, cv::KeyPoint> & getWords() const {return _words;}
const std::multimap<int, int> & getWords() const {return _words;}
const std::vector<cv::KeyPoint> & getWordsKpts() const {return _wordsKpts;}
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;}
const cv::Mat & getWordsDescriptors() const {return _wordsDescriptors;}
void setWordsDescriptors(const cv::Mat & descriptors);
//metric stuff
void setWords3(const std::multimap<int, cv::Point3f> & words3) {_words3 = words3;}
void setPose(const Transform & pose) {_pose = pose;}
void setGroundTruthPose(const Transform & pose) {_groundTruthPose = pose;}
void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw) {
@@ -129,7 +128,7 @@ public:
_velocity[5]=vyaw;
}
const std::multimap<int, cv::Point3f> & getWords3() const {return _words3;}
const std::vector<cv::Point3f> & getWords3() const {return _words3;}
const Transform & getPose() const {return _pose;}
cv::Mat getPoseCovariance() const;
const Transform & getGroundTruthPose() const {return _groundTruthPose;}
@@ -138,7 +137,7 @@ public:
SensorData & sensorData() {return _sensorData;}
const SensorData & sensorData() const {return _sensorData;}
long getMemoryUsed(bool withSensorData=true) const; // Return memory usage in Bytes
unsigned long getMemoryUsed(bool withSensorData=true) const; // Return memory usage in Bytes
private:
int _id;
@@ -155,9 +154,10 @@ private:
// Contains all words (Some can be duplicates -> if a word appears 2
// times in the signature, it will be 2 times in this list)
// Words match with the CvSeq keypoints and descriptors
std::multimap<int, cv::KeyPoint> _words; // word <id, keypoint>
std::multimap<int, cv::Point3f> _words3; // word <id, point> // in base_link frame (localTransform applied))
std::multimap<int, cv::Mat> _wordsDescriptors;
std::multimap<int, int> _words; // word <id, keypoint index>
std::vector<cv::KeyPoint> _wordsKpts;
std::vector<cv::Point3f> _words3; // in base_link frame (localTransform applied))
cv::Mat _wordsDescriptors;
std::map<int, int> _wordsChanged; // <oldId, newId>
bool _enabled;
int _invalidWordsCount;

2
corelib/include/rtabmap/core/Statistics.h
View File

@@ -65,6 +65,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Map_id,);
RTABMAP_STATS(Loop, Visual_words,);
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Visual_inliers_ratio,);
RTABMAP_STATS(Loop, Visual_matches,);
RTABMAP_STATS(Loop, Distance_since_last_loc,);
RTABMAP_STATS(Loop, Last_id,);
@@ -149,6 +150,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Odometry_variance_lin,);
RTABMAP_STATS(Memory, Distance_travelled, m);
RTABMAP_STATS(Memory, RAM_usage, MB);
RTABMAP_STATS(Memory, RAM_estimated, MB);
RTABMAP_STATS(Memory, Triangulated_points, );
RTABMAP_STATS(Timing, Memory_update, ms);

3
corelib/include/rtabmap/core/VWDictionary.h
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@@ -100,7 +100,8 @@ public:
int getLastIndexedWordId() const;
int getTotalActiveReferences() const {return _totalActiveReferences;}
unsigned int getIndexedWordsCount() const;
unsigned int getIndexMemoryUsed() const;
unsigned int getIndexMemoryUsed() const; // KB
unsigned long getMemoryUsed(bool estimate = true) const; //Bytes
bool setNNStrategy(NNStrategy strategy); // Return true if the search tree has been re-initialized
bool isIncremental() const {return _incrementalDictionary;}
bool isIncrementalFlann() const {return _incrementalFlann;}

1
corelib/include/rtabmap/core/VisualWord.h
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@@ -43,6 +43,7 @@ public:
void addRef(int signatureId);
int removeAllRef(int signatureId);
unsigned long getMemoryUsed() const;
int getTotalReferences() const {return _totalReferences;}
int id() const {return _id;}