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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/src/DBDriverSqlite3.cpp
+21 -25
View File
@@ -486,7 +486,7 @@ void DBDriverSqlite3::executeNoResultQuery(const std::string & sql) const
}
}
long DBDriverSqlite3::getMemoryUsedQuery() const
unsigned long DBDriverSqlite3::getMemoryUsedQuery() const
{
if(_dbInMemory)
{
@@ -3079,9 +3079,10 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
const void * descriptor = 0;
int dRealSize = 0;
cv::KeyPoint kpt;
std::multimap<int, cv::KeyPoint> visualWords;
std::multimap<int, cv::Point3f> visualWords3;
std::multimap<int, cv::Mat> descriptors;
std::multimap<int, int> visualWords;
std::vector<cv::KeyPoint> visualWordsKpts;
std::vector<cv::Point3f> visualWords3;
cv::Mat descriptors;
bool allWords3NaN = true;
cv::Point3f depth(0,0,0);
@@ -3131,8 +3132,9 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
depth.z = sqlite3_column_double(ppStmt, index++);
}
visualWords.insert(visualWords.end(), std::make_pair(visualWordId, kpt));
visualWords3.insert(visualWords3.end(), std::make_pair(visualWordId, depth));
visualWordsKpts.push_back(kpt);
visualWords.insert(visualWords.end(), std::make_pair(visualWordId, visualWordsKpts.size()-1));
visualWords3.push_back(depth);
if(allWords3NaN && util3d::isFinite(depth))
{
@@ -3165,7 +3167,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
memcpy(d.data, descriptor, dRealSize);
descriptors.insert(descriptors.end(), std::make_pair(visualWordId, d));
descriptors.push_back(d);
}
}
@@ -3179,13 +3181,12 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
}
else
{
(*iter)->setWords(visualWords);
if(!allWords3NaN)
if(allWords3NaN)
{
(*iter)->setWords3(visualWords3);
visualWords3.clear();
}
(*iter)->setWordsDescriptors(descriptors);
ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), allWords3NaN?0:(int)visualWords3.size(), (int)descriptors.size(), (*iter)->id());
(*iter)->setWords(visualWords, visualWordsKpts, visualWords3, descriptors);
ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), allWords3NaN?0:(int)visualWords3.size(), (int)descriptors.rows, (*iter)->id());
}
//reset
@@ -4275,30 +4276,25 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures)
float nanFloat = std::numeric_limits<float>::quiet_NaN ();
for(std::list<Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
{
UASSERT((*i)->getWords().size() == (*i)->getWordsKpts().size());
UASSERT((*i)->getWords3().empty() || (*i)->getWords().size() == (*i)->getWords3().size());
UASSERT((*i)->getWordsDescriptors().empty() || (*i)->getWords().size() == (*i)->getWordsDescriptors().size());
UASSERT((*i)->getWordsDescriptors().empty() || (int)(*i)->getWords().size() == (*i)->getWordsDescriptors().rows);
std::multimap<int, cv::Point3f>::const_iterator p=(*i)->getWords3().begin();
std::multimap<int, cv::Mat>::const_iterator d=(*i)->getWordsDescriptors().begin();
for(std::multimap<int, cv::KeyPoint>::const_iterator w=(*i)->getWords().begin(); w!=(*i)->getWords().end(); ++w)
for(std::multimap<int, int>::const_iterator w=(*i)->getWords().begin(); w!=(*i)->getWords().end(); ++w)
{
cv::Point3f pt(nanFloat,nanFloat,nanFloat);
if(p!=(*i)->getWords3().end())
if(!(*i)->getWords3().empty())
{
UASSERT(w->first == p->first); // must be same id!
pt = p->second;
++p;
pt = (*i)->getWords3()[w->second];
}
cv::Mat descriptor;
if(d!=(*i)->getWordsDescriptors().end())
if(!(*i)->getWordsDescriptors().empty())
{
UASSERT(w->first == d->first); // must be same id!
descriptor = d->second;
++d;
descriptor = (*i)->getWordsDescriptors().row(w->second);
}
stepKeypoint(ppStmt, (*i)->id(), w->first, w->second, pt, descriptor);
stepKeypoint(ppStmt, (*i)->id(), w->first, (*i)->getWordsKpts()[w->second], pt, descriptor);
}
}
// Finalize (delete) the statement