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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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101
guilib/src/MainWindow.cpp
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@@ -1715,11 +1715,14 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_cachedSignatures.insert(signature.id(), signature);
_cachedMemoryUsage += signature.sensorData().getMemoryUsed();
unsigned int count = 0;
for(std::multimap<int, cv::Point3f>::const_iterator jter=signature.getWords3().upper_bound(-1); jter!=signature.getWords3().end(); ++jter)
if(!signature.getWords3().empty())
{
if(util3d::isFinite(jter->second))
for(std::multimap<int, int>::const_iterator jter=signature.getWords().upper_bound(-1); jter!=signature.getWords().end(); ++jter)
{
++count;
if(util3d::isFinite(signature.getWords3()[jter->second]))
{
++count;
}
}
}
_cachedWordsCount.insert(std::make_pair(signature.id(), (float)count));
@@ -1952,7 +1955,17 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
// do it after scaling
this->drawKeypoints(signature.getWords(), loopSignature.getWords());
std::multimap<int, cv::KeyPoint> wordsA;
std::multimap<int, cv::KeyPoint> wordsB;
for(std::map<int, int>::const_iterator iter=signature.getWords().begin(); iter!=signature.getWords().end(); ++iter)
{
wordsA.insert(wordsA.end(), std::make_pair(iter->first, signature.getWordsKpts()[iter->second]));
}
for(std::map<int, int>::const_iterator iter=loopSignature.getWords().begin(); iter!=loopSignature.getWords().end(); ++iter)
{
wordsB.insert(wordsB.end(), std::make_pair(iter->first, loopSignature.getWordsKpts()[iter->second]));
}
this->drawKeypoints(wordsA, wordsB);
UDEBUG("time= %d ms", time.restart());
@@ -3706,40 +3719,57 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
cloud->resize(iter->getWords3().size());
int oi=0;
UASSERT(iter->getWords().size() == iter->getWords3().size());
std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
float maxDepth = _preferencesDialog->getCloudMaxDepth(0);
UDEBUG("rgb.channels()=%d");
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
jter!=iter->getWords3().end(); ++jter, ++kter)
if(!iter->getWords3().empty() && !iter->getWordsKpts().empty())
{
if(util3d::isFinite(jter->second) && (maxDepth == 0.0f || jter->second.z < maxDepth))
Transform invLocalTransform = Transform::getIdentity();
if(iter.value().sensorData().cameraModels().size() == 1 && iter.value().sensorData().cameraModels().at(0).isValidForProjection())
{
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;
(*cloud)[oi].z = jter->second.z;
int u = kter->second.pt.x+0.5;
int v = kter->second.pt.y+0.5;
if(!rgb.empty() &&
uIsInBounds(u, 0, rgb.cols-1) &&
uIsInBounds(v, 0, rgb.rows-1))
invLocalTransform = iter.value().sensorData().cameraModels()[0].localTransform().inverse();
}
else if(iter.value().sensorData().stereoCameraModel().isValidForProjection())
{
invLocalTransform = iter.value().sensorData().stereoCameraModel().left().localTransform().inverse();
}
for(std::multimap<int, int>::const_iterator jter=iter->getWords().begin(); jter!=iter->getWords().end(); ++jter)
{
const cv::Point3f & pt = iter->getWords3()[jter->second];
if(util3d::isFinite(pt) &&
(maxDepth == 0.0f ||
//move back point in camera frame (to get depth along z), ignore for multi-camera
(iter.value().sensorData().cameraModels().size()<=1 &&
util3d::transformPoint(pt, invLocalTransform).z < maxDepth)))
{
if(rgb.channels() == 1)
(*cloud)[oi].x = pt.x;
(*cloud)[oi].y = pt.y;
(*cloud)[oi].z = pt.z;
const cv::KeyPoint & kpt = iter->getWordsKpts()[jter->second];
int u = kpt.pt.x+0.5;
int v = kpt.pt.y+0.5;
if(!rgb.empty() &&
uIsInBounds(u, 0, rgb.cols-1) &&
uIsInBounds(v, 0, rgb.rows-1))
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
if(rgb.channels() == 1)
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
}
else
{
cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
(*cloud)[oi].b = bgr.val[0];
(*cloud)[oi].g = bgr.val[1];
(*cloud)[oi].r = bgr.val[2];
}
}
else
{
cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
(*cloud)[oi].b = bgr.val[0];
(*cloud)[oi].g = bgr.val[1];
(*cloud)[oi].r = bgr.val[2];
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
}
++oi;
}
else
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
}
++oi;
}
}
cloud->resize(oi);
@@ -4062,11 +4092,14 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_cachedSignatures.insert(iter->first, iter->second);
_cachedMemoryUsage += iter->second.sensorData().getMemoryUsed();
unsigned int count = 0;
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->second.getWords3().upper_bound(-1); jter!=iter->second.getWords3().end(); ++jter)
if(!iter->second.getWords3().empty())
{
if(util3d::isFinite(jter->second))
for(std::multimap<int, int>::const_iterator jter=iter->second.getWords().upper_bound(-1); jter!=iter->second.getWords().end(); ++jter)
{
++count;
if(util3d::isFinite(iter->second.getWords3()[jter->second]))
{
++count;
}
}
}
_cachedWordsCount.insert(std::make_pair(iter->first, (float)count));
@@ -5874,13 +5907,9 @@ void MainWindow::postProcessing()
}
else
{
signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
signatureFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
signatureFrom.removeAllWords();
signatureFrom.sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
signatureTo.setWords3(std::multimap<int, cv::Point3f>());
signatureTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
signatureTo.removeAllWords();
signatureTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
}