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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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guilib/src/DatabaseViewer.cpp
+98 -37
View File
@@ -4163,9 +4163,14 @@ void DatabaseViewer::update(int value,
std::list<Signature*> signatures;
dbDriver_->loadSignatures(ids, signatures);
if(signatures.size() && signatures.front()!=0 && signatures.front()->getWords().size())
if(signatures.size() && signatures.front()!=0 && !signatures.front()->getWordsKpts().empty())
{
view->setFeatures(signatures.front()->getWords(), data.depthOrRightRaw().type() == CV_8UC1?cv::Mat():data.depthOrRightRaw(), Qt::yellow);
std::multimap<int, cv::KeyPoint> keypoints;
for(std::map<int, int>::const_iterator iter=signatures.front()->getWords().begin(); iter!=signatures.front()->getWords().end(); ++iter)
{
keypoints.insert(std::make_pair(iter->first, signatures.front()->getWordsKpts()[iter->second]));
}
view->setFeatures(keypoints, data.depthOrRightRaw().type() == CV_8UC1?cv::Mat():data.depthOrRightRaw(), Qt::yellow);
}
Transform odomPose, g;
@@ -4522,16 +4527,19 @@ void DatabaseViewer::update(int value,
}
//words
if(ui_->checkBox_showWords->isChecked() && signatures.size())
if(ui_->checkBox_showWords->isChecked() &&
!signatures.empty() &&
!(*signatures.begin())->getWords3().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize((*signatures.begin())->getWords3().size());
int i=0;
for(std::multimap<int, cv::Point3f>::const_iterator iter=(*signatures.begin())->getWords3().begin();
iter!=(*signatures.begin())->getWords3().end();
for(std::multimap<int, int>::const_iterator iter=(*signatures.begin())->getWords().begin();
iter!=(*signatures.begin())->getWords().end();
++iter)
{
cloud->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
const cv::Point3f & pt = (*signatures.begin())->getWords3()[iter->second];
cloud->at(i++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
}
if(cloud->size())
@@ -5593,20 +5601,25 @@ void DatabaseViewer::updateConstraintView(
cloudTo->resize(sTo->getWords3().size());
}
int i=0;
for(std::multimap<int, cv::Point3f>::const_iterator iter=sFrom->getWords3().begin();
iter!=sFrom->getWords3().end();
++iter)
if(!sFrom->getWords3().empty())
{
cloudFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
}
i=0;
if(sTo)
{
for(std::multimap<int, cv::Point3f>::const_iterator iter=sTo->getWords3().begin();
iter!=sTo->getWords3().end();
for(std::multimap<int, int>::const_iterator iter=sFrom->getWords().begin();
iter!=sFrom->getWords().end();
++iter)
{
cloudTo->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
const cv::Point3f & pt = sFrom->getWords3()[iter->second];
cloudFrom->at(i++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
}
}
i=0;
if(sTo && !sTo->getWords3().empty())
{
for(std::multimap<int, int>::const_iterator iter=sTo->getWords().begin();
iter!=sTo->getWords().end();
++iter)
{
const cv::Point3f & pt = sTo->getWords3()[iter->second];
cloudTo->at(i++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
}
}
@@ -7074,13 +7087,9 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
if(reextractVisualFeatures)
{
fromS->setWords(std::multimap<int, cv::KeyPoint>());
fromS->setWords3(std::multimap<int, cv::Point3f>());
fromS->setWordsDescriptors(std::multimap<int, cv::Mat>());
fromS->removeAllWords();
fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
toS->setWords(std::multimap<int, cv::KeyPoint>());
toS->setWords3(std::multimap<int, cv::Point3f>());
toS->setWordsDescriptors(std::multimap<int, cv::Mat>());
toS->removeAllWords();
toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
@@ -7192,17 +7201,33 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
if(toS && fromS->id() > 0 && toS->id() > 0)
{
updateLoopClosuresSlider(fromS->id(), toS->id());
std::multimap<int, cv::KeyPoint> keypointsFrom;
std::multimap<int, cv::KeyPoint> keypointsTo;
if(!fromS->getWordsKpts().empty())
{
for(std::map<int, int>::const_iterator iter=fromS->getWords().begin(); iter!=fromS->getWords().end(); ++iter)
{
keypointsFrom.insert(keypointsFrom.end(), std::make_pair(iter->first, fromS->getWordsKpts()[iter->second]));
}
}
if(!toS->getWordsKpts().empty())
{
for(std::map<int, int>::const_iterator iter=toS->getWords().begin(); iter!=toS->getWords().end(); ++iter)
{
keypointsTo.insert(keypointsTo.end(), std::make_pair(iter->first, toS->getWordsKpts()[iter->second]));
}
}
if(newLink.type() != Link::kNeighbor && fromS->id() < toS->id())
{
this->updateConstraintView(newLink.inverse(), true, *toS, *fromS);
ui_->graphicsView_A->setFeatures(toS->getWords(), toS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(fromS->getWords(), fromS->sensorData().depthRaw());
ui_->graphicsView_A->setFeatures(keypointsTo, toS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
}
else
{
this->updateConstraintView(newLink, true, *fromS, *toS);
ui_->graphicsView_A->setFeatures(fromS->getWords(), fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(toS->getWords(), toS->sensorData().depthRaw());
ui_->graphicsView_A->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(keypointsTo, toS->sensorData().depthRaw());
}
updateWordsMatching(info.inliersIDs);
@@ -7218,8 +7243,32 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
if(toS && fromS->id() > 0 && toS->id() > 0)
{
// just update matches in the views
ui_->graphicsView_A->setFeatures(fromS->getWords(), fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(toS->getWords(), toS->sensorData().depthRaw());
std::multimap<int, cv::KeyPoint> keypointsFrom;
std::multimap<int, cv::KeyPoint> keypointsTo;
if(!fromS->getWordsKpts().empty())
{
for(std::map<int, int>::const_iterator iter=fromS->getWords().begin(); iter!=fromS->getWords().end(); ++iter)
{
keypointsFrom.insert(keypointsFrom.end(), std::make_pair(iter->first, fromS->getWordsKpts()[iter->second]));
}
}
if(!toS->getWordsKpts().empty())
{
for(std::map<int, int>::const_iterator iter=toS->getWords().begin(); iter!=toS->getWords().end(); ++iter)
{
keypointsTo.insert(keypointsTo.end(), std::make_pair(iter->first, toS->getWordsKpts()[iter->second]));
}
}
if(currentLink.type() != Link::kNeighbor && fromS->id() < toS->id())
{
ui_->graphicsView_A->setFeatures(keypointsTo, toS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
}
else
{
ui_->graphicsView_A->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(keypointsTo, toS->sensorData().depthRaw());
}
updateWordsMatching(info.inliersIDs);
}
@@ -7306,13 +7355,9 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
toS->sensorData().uncompressData();
if(reextractVisualFeatures)
{
fromS->setWords(std::multimap<int, cv::KeyPoint>());
fromS->setWords3(std::multimap<int, cv::Point3f>());
fromS->setWordsDescriptors(std::multimap<int, cv::Mat>());
fromS->removeAllWords();
fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
toS->setWords(std::multimap<int, cv::KeyPoint>());
toS->setWords3(std::multimap<int, cv::Point3f>());
toS->setWordsDescriptors(std::multimap<int, cv::Mat>());
toS->removeAllWords();
toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
}
@@ -7565,8 +7610,24 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
this->updateConstraintView(newLink, false, *fromS, *toS);
}
ui_->graphicsView_A->setFeatures(fromS->getWords(), fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(toS->getWords(), toS->sensorData().depthRaw());
std::multimap<int, cv::KeyPoint> keypointsFrom;
std::multimap<int, cv::KeyPoint> keypointsTo;
if(!fromS->getWordsKpts().empty())
{
for(std::map<int, int>::const_iterator iter=fromS->getWords().begin(); iter!=fromS->getWords().end(); ++iter)
{
keypointsFrom.insert(keypointsFrom.end(), std::make_pair(iter->first, fromS->getWordsKpts()[iter->second]));
}
}
if(!toS->getWordsKpts().empty())
{
for(std::map<int, int>::const_iterator iter=toS->getWords().begin(); iter!=toS->getWords().end(); ++iter)
{
keypointsTo.insert(keypointsTo.end(), std::make_pair(iter->first, toS->getWordsKpts()[iter->second]));
}
}
ui_->graphicsView_A->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(keypointsTo, toS->sensorData().depthRaw());
updateWordsMatching(info.inliersIDs);
}
else if(updateConstraints)