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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/SensorData.cpp
+5 -4
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@@ -763,9 +763,10 @@ void SensorData::setFeatures(const std::vector<cv::KeyPoint> & keypoints, const
_descriptors = descriptors;
}
long SensorData::getMemoryUsed() const // Return memory usage in Bytes
unsigned long SensorData::getMemoryUsed() const // Return memory usage in Bytes
{
return _imageCompressed.total()*_imageCompressed.elemSize() +
return sizeof(SensorData) +
_imageCompressed.total()*_imageCompressed.elemSize() +
_imageRaw.total()*_imageRaw.elemSize() +
_depthOrRightCompressed.total()*_depthOrRightCompressed.elemSize() +
_depthOrRightRaw.total()*_depthOrRightRaw.elemSize() +
@@ -779,8 +780,8 @@ long SensorData::getMemoryUsed() const // Return memory usage in Bytes
_obstacleCellsRaw.total()*_obstacleCellsRaw.elemSize()+
_emptyCellsCompressed.total()*_emptyCellsCompressed.elemSize() +
_emptyCellsRaw.total()*_emptyCellsRaw.elemSize()+
_keypoints.size() * sizeof(float) * 7 +
_keypoints3D.size() * sizeof(float)*3 +
_keypoints.size() * sizeof(cv::KeyPoint) +
_keypoints3D.size() * sizeof(cv::Point3f) +
_descriptors.total()*_descriptors.elemSize();
}