i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 10:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increased version to 0.20.5

Browse Source 
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
corelib/src/FlannIndex.cpp
+81 -28
View File
@@ -107,32 +107,36 @@ unsigned int FlannIndex::indexedFeatures() const
}
}
// return KB
unsigned int FlannIndex::memoryUsed() const
// return Bytes
unsigned long FlannIndex::memoryUsed() const
{
if(!index_)
{
return 0;
}
unsigned long memoryUsage = sizeof(FlannIndex);
memoryUsage += addedDescriptors_.size() * (sizeof(int) + sizeof(cv::Mat) + sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, cv::Mat>);
memoryUsage += sizeof(std::list<int>) + removedIndexes_.size() * sizeof(int);
if(featuresType_ == CV_8UC1)
{
return ((const rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->usedMemory()/1000;
memoryUsage += ((const rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->usedMemory();
}
else
{
if(useDistanceL1_)
{
return ((const rtflann::Index<rtflann::L1<float> >*)index_)->usedMemory()/1000;
memoryUsage += ((const rtflann::Index<rtflann::L1<float> >*)index_)->usedMemory();
}
else if(featuresDim_ <= 3)
{
return ((const rtflann::Index<rtflann::L2_Simple<float> >*)index_)->usedMemory()/1000;
memoryUsage += ((const rtflann::Index<rtflann::L2_Simple<float> >*)index_)->usedMemory();
}
else
{
return ((const rtflann::Index<rtflann::L2<float> >*)index_)->usedMemory()/1000;
memoryUsage += ((const rtflann::Index<rtflann::L2<float> >*)index_)->usedMemory();
}
}
return memoryUsage;
}
void FlannIndex::buildLinearIndex(
@@ -177,10 +181,21 @@ void FlannIndex::buildLinearIndex(
}
}
// incremental FLANN
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ = features.rows;
// incremental FLANN: we should add all headers separately in case we remove
// some indexes (to keep underlying matrix data allocated)
if(rebalancingFactor_ > 1.0f)
{
for(int i=0; i<features.rows; ++i)
{
addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
}
}
else
{
// tree won't ever be rebalanced, so just keep only one header for the data
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ += features.rows;
}
UDEBUG("");
}
@@ -227,10 +242,21 @@ void FlannIndex::buildKDTreeIndex(
}
}
// incremental FLANN
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ = features.rows;
// incremental FLANN: we should add all headers separately in case we remove
// some indexes (to keep underlying matrix data allocated)
if(rebalancingFactor_ > 1.0f)
{
for(int i=0; i<features.rows; ++i)
{
addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
}
}
else
{
// tree won't ever be rebalanced, so just keep only one header for the data
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ += features.rows;
}
UDEBUG("");
}
@@ -278,10 +304,21 @@ void FlannIndex::buildKDTreeSingleIndex(
}
}
// incremental FLANN
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ = features.rows;
// incremental FLANN: we should add all headers separately in case we remove
// some indexes (to keep underlying matrix data allocated)
if(rebalancingFactor_ > 1.0f)
{
for(int i=0; i<features.rows; ++i)
{
addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
}
}
else
{
// tree won't ever be rebalanced, so just keep only one header for the data
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ += features.rows;
}
UDEBUG("");
}
@@ -305,10 +342,21 @@ void FlannIndex::buildLSHIndex(
index_ = new rtflann::Index<rtflann::Hamming<unsigned char> >(dataset, rtflann::LshIndexParams(12, 20, 2));
((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->buildIndex();
// incremental FLANN
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ = features.rows;
// incremental FLANN: we should add all headers separately in case we remove
// some indexes (to keep underlying matrix data allocated)
if(rebalancingFactor_ > 1.0f)
{
for(int i=0; i<features.rows; ++i)
{
addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
}
}
else
{
// tree won't ever be rebalanced, so just keep only one header for the data
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
nextIndex_ += features.rows;
}
UDEBUG("");
}
@@ -317,12 +365,12 @@ bool FlannIndex::isBuilt()
return index_!=0;
}
unsigned int FlannIndex::addPoints(const cv::Mat & features)
std::vector<unsigned int> FlannIndex::addPoints(const cv::Mat & features)
{
if(!index_)
{
UERROR("Flann index not yet created!");
return 0;
return std::vector<unsigned int>();
}
UASSERT(features.type() == featuresType_);
UASSERT(features.cols == featuresDim_);
@@ -401,11 +449,16 @@ unsigned int FlannIndex::addPoints(const cv::Mat & features)
removedIndexes_.clear();
}
addedDescriptors_.insert(std::make_pair(nextIndex_, features));
// incremental FLANN: we should add all headers separately in case we remove
// some indexes (to keep underlying matrix data allocated)
std::vector<unsigned int> indexes;
for(int i=0; i<features.rows; ++i)
{
indexes.push_back(nextIndex_);
addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
}
int r = nextIndex_;
nextIndex_ += features.rows;
return r;
return indexes;
}
void FlannIndex::removePoint(unsigned int index)