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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/Signature.cpp
+72 -47
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@@ -132,11 +132,24 @@ bool Signature::hasLink(int idTo, Link::Type type) const
{
return _links.find(idTo) != _links.end();
}
for(std::multimap<int, Link>::const_iterator iter=_links.find(idTo); iter!=_links.end() && iter->first == idTo; ++iter)
if(idTo==0)
{
if(type == iter->second.type())
for(std::multimap<int, Link>::const_iterator iter=_links.begin(); iter!=_links.end(); ++iter)
{
return true;
if(type == iter->second.type())
{
return true;
}
}
}
else
{
for(std::multimap<int, Link>::const_iterator iter=_links.find(idTo); iter!=_links.end() && iter->first == idTo; ++iter)
{
if(type == iter->second.type())
{
return true;
}
}
}
return false;
@@ -209,11 +222,11 @@ void Signature::removeVirtualLinks()
float Signature::compareTo(const Signature & s) const
{
float similarity = 0.0f;
const std::multimap<int, cv::KeyPoint> & words = s.getWords();
const std::multimap<int, int> & words = s.getWords();
if(!s.isBadSignature() && !this->isBadSignature())
{
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
std::list<std::pair<int, std::pair<int, int> > > pairs;
int totalWords = ((int)_words.size()-_invalidWordsCount)>((int)words.size()-s.getInvalidWordsCount())?((int)_words.size()-_invalidWordsCount):((int)words.size()-s.getInvalidWordsCount());
UASSERT(totalWords > 0);
EpipolarGeometry::findPairs(words, _words, pairs);
@@ -225,11 +238,9 @@ float Signature::compareTo(const Signature & s) const
void Signature::changeWordsRef(int oldWordId, int activeWordId)
{
std::list<cv::KeyPoint> kps = uValues(_words, oldWordId);
if(kps.size())
std::list<int> words = uValues(_words, oldWordId);
if(words.size())
{
std::list<cv::Point3f> pts = uValues(_words3, oldWordId);
std::list<cv::Mat> descriptors = uValues(_wordsDescriptors, oldWordId);
if(oldWordId<=0)
{
_invalidWordsCount-=(int)_words.erase(oldWordId);
@@ -239,37 +250,41 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
{
_words.erase(oldWordId);
}
_words3.erase(oldWordId);
_wordsDescriptors.erase(oldWordId);
_wordsChanged.insert(std::make_pair(oldWordId, activeWordId));
for(std::list<cv::KeyPoint>::const_iterator iter=kps.begin(); iter!=kps.end(); ++iter)
for(std::list<int>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
{
_words.insert(std::pair<int, cv::KeyPoint>(activeWordId, (*iter)));
}
for(std::list<cv::Point3f>::const_iterator iter=pts.begin(); iter!=pts.end(); ++iter)
{
_words3.insert(std::pair<int, cv::Point3f>(activeWordId, (*iter)));
}
for(std::list<cv::Mat>::const_iterator iter=descriptors.begin(); iter!=descriptors.end(); ++iter)
{
_wordsDescriptors.insert(std::pair<int, cv::Mat>(activeWordId, (*iter)));
_words.insert(std::pair<int, int>(activeWordId, (*iter)));
}
}
}
void Signature::setWords(const std::multimap<int, cv::KeyPoint> & words)
void Signature::setWords(const std::multimap<int, int> & words,
const std::vector<cv::KeyPoint> & keypoints,
const std::vector<cv::Point3f> & points,
const cv::Mat & descriptors)
{
UASSERT_MSG(descriptors.empty() || descriptors.rows == (int)words.size(), uFormat("words=%d, descriptors=%d", (int)words.size(), descriptors.rows).c_str());
UASSERT_MSG(points.empty() || points.size() == words.size(), uFormat("words=%d, points=%d", (int)words.size(), (int)points.size()).c_str());
UASSERT_MSG(keypoints.empty() || keypoints.size() == words.size(), uFormat("words=%d, descriptors=%d", (int)words.size(), (int)keypoints.size()).c_str());
UASSERT(words.empty() || !keypoints.empty() || !points.empty() || !descriptors.empty());
_invalidWordsCount = 0;
for(std::multimap<int, int>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
{
if(iter->first<=0)
{
++_invalidWordsCount;
}
// make sure indexes are all valid!
UASSERT_MSG(iter->second >=0 && iter->second < (int)words.size(), uFormat("iter->second=%d words.size()=%d", iter->second, (int)words.size()).c_str());
}
_enabled = false;
_words = words;
_invalidWordsCount = 0;
for(std::multimap<int, cv::KeyPoint>::iterator iter=_words.begin(); iter!=_words.end(); ++iter)
{
if(iter->first>0)
{
break;
}
++_invalidWordsCount;
}
_wordsKpts = keypoints;
_words3 = points;
_wordsDescriptors = descriptors.clone();
}
bool Signature::isBadSignature() const
@@ -280,24 +295,30 @@ bool Signature::isBadSignature() const
void Signature::removeAllWords()
{
_words.clear();
_wordsKpts.clear();
_words3.clear();
_wordsDescriptors.clear();
_wordsDescriptors = cv::Mat();
_invalidWordsCount = 0;
}
void Signature::removeWord(int wordId)
void Signature::setWordsDescriptors(const cv::Mat & descriptors)
{
if(wordId<=0)
if(descriptors.empty())
{
_invalidWordsCount-=(int)_words.erase(wordId);
UASSERT(_invalidWordsCount>=0);
if(_wordsKpts.empty() && _words3.empty())
{
removeAllWords();
}
else
{
_wordsDescriptors = cv::Mat();
}
}
else
{
_words.erase(wordId);
UASSERT(descriptors.rows == (int)_words.size());
_wordsDescriptors = descriptors.clone();
}
_words3.erase(wordId);
_wordsDescriptors.clear();
}
cv::Mat Signature::getPoseCovariance() const
@@ -321,19 +342,23 @@ cv::Mat Signature::getPoseCovariance() const
return covariance;
}
long Signature::getMemoryUsed(bool withSensorData) const // Return memory usage in Bytes
unsigned long Signature::getMemoryUsed(bool withSensorData) const // Return memory usage in Bytes
{
long total = _words.size() * sizeof(float) * 8 +
_words3.size() * sizeof(float) * 4;
if(!_wordsDescriptors.empty())
{
total += _wordsDescriptors.size() * sizeof(int);
total += _wordsDescriptors.size() * _wordsDescriptors.begin()->second.total() * _wordsDescriptors.begin()->second.elemSize();
}
unsigned long total = sizeof(Signature);
total += _words.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::multimap<int, cv::KeyPoint>);
total += _wordsKpts.size() * sizeof(cv::KeyPoint) + sizeof(std::vector<cv::KeyPoint>);
total += _words3.size() * sizeof(cv::Point3f) + sizeof(std::vector<cv::Point3f>);
total += _wordsDescriptors.total() * _wordsDescriptors.elemSize() + sizeof(cv::Mat);
total += _wordsChanged.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, int>);
if(withSensorData)
{
total+=_sensorData.getMemoryUsed();
}
total += _pose.size() * (sizeof(Transform) + sizeof(float)*12);
total += _groundTruthPose.size() * (sizeof(Transform) + sizeof(float)*12);
total += _velocity.size() * sizeof(float);
total += _links.size() * (sizeof(int) + sizeof(Transform) + 12 * sizeof(float) + sizeof(cv::Mat) + 36 * sizeof(double)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::multimap<int, Link>);
total += _landmarks.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>);
return total;
}