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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/Optimizer.cpp
+22 -17
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@@ -617,8 +617,8 @@ void Optimizer::computeBACorrespondences(
if(!rematchFeatures)
{
sFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
sTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
sFrom.setWordsDescriptors(cv::Mat());
sTo.setWordsDescriptors(cv::Mat());
}
RegistrationInfo info;
@@ -633,13 +633,13 @@ void Optimizer::computeBACorrespondences(
// set descriptors for the output
if(sFrom.getWords().size() &&
sFrom.getWordsDescriptors().empty() &&
sFrom.getWords().size() == signatures.at(link.from()).getWordsDescriptors().size())
(int)sFrom.getWords().size() == signatures.at(link.from()).getWordsDescriptors().rows)
{
sFrom.setWordsDescriptors(signatures.at(link.from()).getWordsDescriptors());
}
if(sTo.getWords().size() &&
sTo.getWordsDescriptors().empty() &&
sTo.getWords().size() == signatures.at(link.to()).getWordsDescriptors().size())
(int)sTo.getWords().size() == signatures.at(link.to()).getWordsDescriptors().rows)
{
sTo.setWordsDescriptors(signatures.at(link.to()).getWordsDescriptors());
}
@@ -649,11 +649,13 @@ void Optimizer::computeBACorrespondences(
UASSERT(!pose.isNull());
for(unsigned int i=0; i<info.inliersIDs.size(); ++i)
{
cv::Point3f p = sFrom.getWords3().lower_bound(info.inliersIDs[i])->second;
int indexFrom = sFrom.getWords().lower_bound(info.inliersIDs[i])->second;
cv::Point3f p = sFrom.getWords3()[indexFrom];
if(p.x > 0.0f) // make sure the point is valid
{
cv::KeyPoint ptFrom = sFrom.getWords().lower_bound(info.inliersIDs[i])->second;
cv::KeyPoint ptTo = sTo.getWords().lower_bound(info.inliersIDs[i])->second;
cv::KeyPoint ptFrom = sFrom.getWordsKpts()[indexFrom];
int indexTo = sTo.getWords().lower_bound(info.inliersIDs[i])->second;
cv::KeyPoint ptTo = sTo.getWordsKpts()[indexTo];
int wordId = -1;
@@ -692,10 +694,10 @@ void Optimizer::computeBACorrespondences(
if(!fromAlreadyAdded)
{
cv::Mat descriptorFrom;
if(sFrom.getWordsDescriptors().size())
if(!sFrom.getWordsDescriptors().empty())
{
UASSERT(sFrom.getWordsDescriptors().find(info.inliersIDs[i]) != sFrom.getWordsDescriptors().end());
descriptorFrom = sFrom.getWordsDescriptors().lower_bound(info.inliersIDs[i])->second;
UASSERT(indexFrom < sFrom.getWordsDescriptors().rows);
descriptorFrom = sFrom.getWordsDescriptors().row(indexFrom);
}
wordReferences.at(wordId).insert(std::make_pair(sFrom.id(), FeatureBA(ptFrom, p.x, descriptorFrom)));
frameToWordMap.insert(std::make_pair(sFrom.id(), std::map<cv::KeyPoint, int, KeyPointCompare>()));
@@ -705,17 +707,20 @@ void Optimizer::computeBACorrespondences(
if(!toAlreadyAdded)
{
cv::Mat descriptorTo;
if(sTo.getWordsDescriptors().size())
if(!sTo.getWordsDescriptors().empty())
{
UASSERT(sTo.getWordsDescriptors().find(info.inliersIDs[i]) != sTo.getWordsDescriptors().end());
descriptorTo = sTo.getWordsDescriptors().lower_bound(info.inliersIDs[i])->second;
UASSERT(indexTo < sTo.getWordsDescriptors().rows);
descriptorTo = sTo.getWordsDescriptors().row(indexTo);
}
float depth = 0.0f;
std::multimap<int, cv::Point3f>::const_iterator iterTo = sTo.getWords3().lower_bound(info.inliersIDs[i]);
if( iterTo!=sTo.getWords3().end() &&
iterTo->second.x > 0)
if(!sTo.getWords3().empty())
{
depth = iterTo->second.x;
UASSERT(indexTo < (int)sTo.getWords3().size());
const cv::Point3f & pt = sTo.getWords3()[indexTo];
if( pt.x > 0)
{
depth = pt.x;
}
}
wordReferences.at(wordId).insert(std::make_pair(sTo.id(), FeatureBA(ptTo, depth, descriptorTo)));
frameToWordMap.insert(std::make_pair(sTo.id(), std::map<cv::KeyPoint, int, KeyPointCompare>()));