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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/Rtabmap.cpp
+33 -40
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@@ -678,19 +678,6 @@ int Rtabmap::getTotalMemSize() const
return 0;
}
std::multimap<int, cv::KeyPoint> Rtabmap::getWords(int locationId) const
{
if(_memory)
{
const Signature * s = _memory->getSignature(locationId);
if(s)
{
return s->getWords();
}
}
return std::multimap<int, cv::KeyPoint>();
}
bool Rtabmap::isInSTM(int locationId) const
{
if(_memory)
@@ -713,25 +700,7 @@ const Statistics & Rtabmap::getStatistics() const
{
return statistics_;
}
/*
bool Rtabmap::getMetricData(int locationId, cv::Mat & rgb, cv::Mat & depth, float & depthConstant, Transform & pose, Transform & localTransform) const
{
if(_memory)
{
const Signature * s = _memory->getSignature(locationId);
if(s && _optimizedPoses.find(s->id()) != _optimizedPoses.end())
{
rgb = s->getImage();
depth = s->getDepth();
depthConstant = s->getDepthConstant();
pose = _optimizedPoses.at(s->id());
localTransform = s->getLocalTransform();
return true;
}
}
return false;
}
*/
Transform Rtabmap::getPose(int locationId) const
{
return uValue(_optimizedPoses, locationId, Transform());
@@ -2235,6 +2204,7 @@ bool Rtabmap::process(
//============================================================
std::list<std::pair<int, int> > loopClosureLinksAdded;
int loopClosureVisualInliers = 0; // for statistics
float loopClosureVisualInliersRatio = 0.0f;
int loopClosureVisualMatches = 0;
float loopClosureLinearVariance = 0.0f;
float loopClosureAngularVariance = 0.0f;
@@ -2386,6 +2356,7 @@ bool Rtabmap::process(
lastProximitySpaceClosureId = nearestId;
loopClosureVisualInliers = info.inliers;
loopClosureVisualInliersRatio = info.inliersRatio;
loopClosureVisualMatches = info.matches;
loopClosureLinearVariance = 1.0/information.at<double>(0,0);
@@ -2589,6 +2560,7 @@ bool Rtabmap::process(
loopClosureVisualInliersDistribution = info.inliersDistribution;
loopClosureVisualInliers = info.inliers;
loopClosureVisualInliersRatio = info.inliersRatio;
loopClosureVisualMatches = info.matches;
rejectedGlobalLoopClosure = transform.isNull();
if(rejectedGlobalLoopClosure)
@@ -3167,6 +3139,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopReactivate_id(), retrievalId);
statistics_.addStatistic(Statistics::kLoopHypothesis_ratio(), hypothesisRatio);
statistics_.addStatistic(Statistics::kLoopVisual_inliers(), loopClosureVisualInliers);
statistics_.addStatistic(Statistics::kLoopVisual_inliers_ratio(), loopClosureVisualInliersRatio);
statistics_.addStatistic(Statistics::kLoopVisual_matches(), loopClosureVisualMatches);
statistics_.addStatistic(Statistics::kLoopLinear_variance(), loopClosureLinearVariance);
statistics_.addStatistic(Statistics::kLoopAngular_variance(), loopClosureAngularVariance);
@@ -3315,6 +3288,13 @@ bool Rtabmap::process(
if(_publishRAMUsage)
{
statistics_.addStatistic(Statistics::kMemoryRAM_usage(), UProcessInfo::getMemoryUsage()/(1024*1024));
long estimatedMemoryUsage = sizeof(Rtabmap);
estimatedMemoryUsage += _optimizedPoses.size() * (sizeof(int) + sizeof(Transform) + 12 * sizeof(float) + sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, Transform>);
estimatedMemoryUsage += _constraints.size() * (sizeof(int) + sizeof(Transform) + 12 * sizeof(float) + sizeof(cv::Mat) + 36 * sizeof(double) + sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, Link>);
estimatedMemoryUsage += _memory->getMemoryUsed();
estimatedMemoryUsage += _bayesFilter->getMemoryUsed();
estimatedMemoryUsage += _parameters.size()*(sizeof(std::string)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(ParametersMap);
statistics_.addStatistic(Statistics::kMemoryRAM_estimated(), (float)(estimatedMemoryUsage/(1024*1024)));//MB
}
if(_publishLikelihood || _publishPdf)
@@ -4463,18 +4443,30 @@ Signature Rtabmap::getSignatureCopy(int id, bool images, bool scan, bool userDat
groundTruth,
data);
std::multimap<int, Link> links = _memory->getLinks(id, true, true);
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() == Link::kLandmark)
{
s.addLandmark(iter->second);
}
else
{
s.addLink(iter->second);
}
}
if(withWords || withGlobalDescriptors)
{
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, cv::Point3f> words3;
std::multimap<int, cv::Mat> wordsDescriptors;
std::multimap<int, int> words;
std::vector<cv::KeyPoint> wordsKpts;
std::vector<cv::Point3f> words3;
cv::Mat wordsDescriptors;
std::vector<rtabmap::GlobalDescriptor> globalDescriptors;
_memory->getNodeWordsAndGlobalDescriptors(id, words, words3, wordsDescriptors, globalDescriptors);
_memory->getNodeWordsAndGlobalDescriptors(id, words, wordsKpts, words3, wordsDescriptors, globalDescriptors);
if(withWords)
{
s.setWords(words);
s.setWords3(words3);
s.setWordsDescriptors(wordsDescriptors);
s.setWords(words, wordsKpts, words3, wordsDescriptors);
}
if(withGlobalDescriptors)
{
@@ -4620,7 +4612,7 @@ int Rtabmap::detectMoreLoopClosures(
std::map<int, Transform> posesToCheckLoopClosures;
std::map<int, Transform> poses;
std::multimap<int, Link> links;
std::map<int, Signature> signatures;
std::map<int, Signature> signatures; // some signatures may be in LTM, get them all
this->getGraph(poses, links, true, true, &signatures);
std::map<int, int> mapIds;
@@ -4706,6 +4698,7 @@ int Rtabmap::detectMoreLoopClosures(
if(!t.isNull())
{
UWARN(t.prettyPrint().c_str());
bool updateConstraints = true;
if(_optimizationMaxError > 0.0f)
{