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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
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corelib/include/rtabmap/core/EpipolarGeometry.h
+109 -16
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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)