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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/VWDictionary.cpp
+41 -5
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@@ -331,7 +331,10 @@ bool VWDictionary::setNNStrategy(NNStrategy strategy)
_strategy = strategy;
if(update)
{
UINFO("Nearest neighbor strategy has changed, re-initialize search tree.");
if(_notIndexedWords.size() != _visualWords.size() || !_dataTree.empty())
{
UINFO("Nearest neighbor strategy has changed, re-initialize search tree.");
}
_dataTree = cv::Mat();
_notIndexedWords = uKeysSet(_visualWords);
_removedIndexedWords.clear();
@@ -363,6 +366,38 @@ unsigned int VWDictionary::getIndexMemoryUsed() const
return _flannIndex->memoryUsed();
}
unsigned long VWDictionary::getMemoryUsed(bool estimate) const
{
long memoryUsage = sizeof(VWDictionary);
memoryUsage += getIndexMemoryUsed();
memoryUsage += _dataTree.total()*_dataTree.elemSize();
if(estimate)
{
if(!_visualWords.empty())
{
memoryUsage += _visualWords.size()*(sizeof(int) + _visualWords.begin()->second->getMemoryUsed()+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
}
}
else
{
for(std::map<int, VisualWord *>::const_iterator iter=_visualWords.begin(); iter!=_visualWords.end(); ++iter)
{
memoryUsage += sizeof(int) + iter->second->getMemoryUsed();
}
memoryUsage += _visualWords.size()*(sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
}
if(!_unusedWords.empty())
{
// they are the same words than in _visualWords, so just add the pointer size
memoryUsage += _unusedWords.size()*(sizeof(int) + sizeof(VisualWord *)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
}
memoryUsage += _mapIndexId.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int ,int>);
memoryUsage += _mapIdIndex.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int ,int>);
memoryUsage += _notIndexedWords.size() * (sizeof(int)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::set<int>);
memoryUsage += _removedIndexedWords.size() * (sizeof(int)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::set<int>);
return memoryUsage;
}
cv::Mat VWDictionary::convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat)
{
if(byteToFloat)
@@ -521,7 +556,8 @@ void VWDictionary::update()
{
UASSERT(descriptor.cols == _flannIndex->featuresDim());
UASSERT(descriptor.type() == _flannIndex->featuresType());
index = _flannIndex->addPoints(descriptor);
UASSERT(descriptor.rows == 1);
index = _flannIndex->addPoints(descriptor).front();
}
std::pair<std::map<int, int>::iterator, bool> inserted;
inserted = _mapIndexId.insert(std::pair<int, int>(index, w->id()));
@@ -628,15 +664,15 @@ void VWDictionary::update()
switch(_strategy)
{
case kNNFlannNaive:
_flannIndex->buildLinearIndex(_dataTree, useDistanceL1_, _rebalancingFactor);
_flannIndex->buildLinearIndex(_dataTree, useDistanceL1_, _incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
break;
case kNNFlannKdTree:
UASSERT_MSG(type == CV_32F, "To use KdTree dictionary, float descriptors are required!");
_flannIndex->buildKDTreeIndex(_dataTree, KDTREE_SIZE, useDistanceL1_, _rebalancingFactor);
_flannIndex->buildKDTreeIndex(_dataTree, KDTREE_SIZE, useDistanceL1_, _incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
break;
case kNNFlannLSH:
UASSERT_MSG(type == CV_8U, "To use LSH dictionary, binary descriptors are required!");
_flannIndex->buildLSHIndex(_dataTree, 12, 20, 2, _rebalancingFactor);
_flannIndex->buildLSHIndex(_dataTree, 12, 20, 2, _incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
break;
default:
break;