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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/VisualWord.cpp
+9
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@@ -69,4 +69,13 @@ int VisualWord::removeAllRef(int signatureId)
return removed;
}
unsigned long VisualWord::getMemoryUsed() const
{
unsigned long memoryUsage = sizeof(VisualWord);
memoryUsage += _references.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int ,int>);
memoryUsage += _oldReferences.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int ,int>);
memoryUsage += _descriptor.total() * _descriptor.elemSize();
return memoryUsage;
}
} // namespace rtabmap