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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/EpipolarGeometry.cpp
+9 -133
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@@ -70,15 +70,21 @@ bool EpipolarGeometry::check(const Signature * ssA, const Signature * ssB)
}
ULOGGER_DEBUG("id(%d,%d)", ssA->id(), ssB->id());
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
std::list<std::pair<int, std::pair<int, int> > > pairsId;
findPairsUnique(ssA->getWords(), ssB->getWords(), pairs);
findPairsUnique(ssA->getWords(), ssB->getWords(), pairsId);
if((int)pairs.size()<_matchCountMinAccepted)
if((int)pairsId.size()<_matchCountMinAccepted)
{
return false;
}
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
for(std::list<std::pair<int, std::pair<int, int> > >::iterator iter = pairsId.begin(); iter!=pairsId.end(); ++iter)
{
pairs.push_back(std::make_pair(iter->first, std::make_pair(ssA->getWordsKpts()[iter->second.first], ssB->getWordsKpts()[iter->second.second])));
}
std::vector<uchar> status;
cv::Mat f = findFFromWords(pairs, status, _ransacParam1, _ransacParam2);
@@ -406,136 +412,6 @@ cv::Mat EpipolarGeometry::findFFromCalibratedStereoCameras(double fx, double fy,
return K.inv().t()*E*K.inv();
}
/**
* if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)]
* realPairsCount = 4
*/
int EpipolarGeometry::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 ignoreInvalidIds)
{
int realPairsCount = 0;
pairs.clear();
for(std::map<int, cv::KeyPoint>::const_iterator i=wordsA.begin(); i!=wordsA.end(); ++i)
{
if(!ignoreInvalidIds || (ignoreInvalidIds && 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<cv::KeyPoint, cv::KeyPoint> >(i->first, std::pair<cv::KeyPoint, cv::KeyPoint>(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
*/
int EpipolarGeometry::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 ignoreInvalidIds)
{
const std::list<int> & ids = uUniqueKeys(wordsA);
std::multimap<int, cv::KeyPoint>::const_iterator iterA;
std::multimap<int, cv::KeyPoint>::const_iterator iterB;
pairs.clear();
int realPairsCount = 0;
for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
{
if(!ignoreInvalidIds || (ignoreInvalidIds && *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<cv::KeyPoint, cv::KeyPoint> >(*i, std::pair<cv::KeyPoint, cv::KeyPoint>((*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
*/
int EpipolarGeometry::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 ignoreInvalidIds)
{
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(!ignoreInvalidIds || (ignoreInvalidIds && *i>=0))
{
std::list<cv::KeyPoint> ptsA = uValues(wordsA, *i);
std::list<cv::KeyPoint> ptsB = uValues(wordsB, *i);
if(ptsA.size() == 1 && ptsB.size() == 1)
{
pairs.push_back(std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> >(*i, std::pair<cv::KeyPoint, cv::KeyPoint>(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
*/
int EpipolarGeometry::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 ignoreInvalidIds)
{
UTimer timer;
timer.start();
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(!ignoreInvalidIds || (ignoreInvalidIds && *iter>=0))
{
std::list<cv::KeyPoint> ptsA = uValues(wordsA, *iter);
std::list<cv::KeyPoint> ptsB = uValues(wordsB, *iter);
realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
for(std::list<cv::KeyPoint>::iterator jter=ptsA.begin(); jter!=ptsA.end(); ++jter)
{
for(std::list<cv::KeyPoint>::iterator kter=ptsB.begin(); kter!=ptsB.end(); ++kter)
{
pairs.push_back(std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> >(*iter, std::pair<cv::KeyPoint, cv::KeyPoint>(*jter, *kter)));
}
}
}
}
ULOGGER_DEBUG("time = %f", timer.ticks());
return realPairsCount;
}
/**
source = SfM toy library: https://github.com/royshil/SfM-Toy-Library