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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/DBReader.cpp
+3 -17
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@@ -510,23 +510,9 @@ SensorData DBReader::getNextData(CameraInfo * info)
data.gps().stamp()!=0.0?1:0,
gravityTransform.isNull()?0:1);
cv::Mat descriptors;
if(!s->getWordsDescriptors().empty())
{
descriptors = cv::Mat(
s->getWordsDescriptors().size(),
s->getWordsDescriptors().begin()->second.cols,
s->getWordsDescriptors().begin()->second.type());
int i=0;
for(std::multimap<int, cv::Mat>::const_iterator iter=s->getWordsDescriptors().begin();
iter!=s->getWordsDescriptors().end();
++iter, ++i)
{
iter->second.copyTo(descriptors.row(i));
}
}
std::vector<cv::KeyPoint> keypoints = uValues(s->getWords());
std::vector<cv::Point3f> keypoints3D = uValues(s->getWords3());
cv::Mat descriptors = s->getWordsDescriptors().clone();
const std::vector<cv::KeyPoint> & keypoints = s->getWordsKpts();
const std::vector<cv::Point3f> & keypoints3D = s->getWords3();
if(!keypoints.empty() &&
(keypoints3D.empty() || keypoints.size() == keypoints3D.size()) &&
(descriptors.empty() || (int)keypoints.size() == descriptors.rows))