Set cv::NORM_L2SQR for bruteforce NN with float descriptors, installing rtabmap-console

corelib/src/VWDictionary.cpp

@@ -456,7 +456,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
 		else if(_strategy == kNNBruteForce)
 		{
 			bruteForce = true;
-			cv::BFMatcher matcher(type==CV_8U?cv::NORM_HAMMING:cv::NORM_L2);
+			cv::BFMatcher matcher(type==CV_8U?cv::NORM_HAMMING:cv::NORM_L2SQR);
 			matcher.knnMatch(descriptors, _dataTree, matches, k);
 		}
 		else if(_strategy == kNNBruteForceGPU)
@@ -671,7 +671,7 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
 			else if(_strategy == kNNBruteForce)
 			{
 				bruteForce = true;
-				cv::BFMatcher matcher(type==CV_8U?cv::NORM_HAMMING:cv::NORM_L2);
+				cv::BFMatcher matcher(type==CV_8U?cv::NORM_HAMMING:cv::NORM_L2SQR);
 				matcher.knnMatch(query, _dataTree, matches, k);
 			}
 			else if(_strategy == kNNBruteForceGPU)

tools/ConsoleApp/CMakeLists.txt

@@ -29,4 +29,8 @@ TARGET_LINK_LIBRARIES(consoleApp rtabmap_core rtabmap_utilite ${LIBRARIES})
 
 SET_TARGET_PROPERTIES( consoleApp 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-console)
+  
+INSTALL(TARGETS consoleApp
+		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
 

tools/ConsoleApp/main.cpp

@@ -70,7 +70,8 @@ void showUsage()
 			"  -warn                           Set Log level to Warning (Default Error)\n"
 			"  -exit_warn                      Set exit level to Warning (Default Fatal)\n"
 			"  -exit_error                     Set exit level to Error (Default Fatal)\n"
-			"  -v                              Get version of RTAB-Map\n");
+			"  -v                              Get version of RTAB-Map\n"
+			"  -input \"path\"                 Load previous database if it exists.\n");
 	exit(1);
 }
 
@@ -118,6 +119,7 @@ int main(int argc, char * argv[])
 	int loopDataset = 0;
 	int repeat = 0;
 	bool createGT = false;
+	std::string inputDbPath;
 	int imageWidth = 0;
 	int imageHeight = 0;
 	int startAt = 1;
@@ -267,6 +269,19 @@ int main(int argc, char * argv[])
 			createGT = true;
 			continue;
 		}
+		if(strcmp(argv[i], "-input") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				inputDbPath = argv[i];
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
 		if(strcmp(argv[i], "-debug") == 0)
 		{
 			logLevel = ULogger::kDebug;
@@ -367,15 +382,25 @@ int main(int argc, char * argv[])
 	ULogger::setLevel(logLevel);
 	ULogger::setExitLevel(exitLevel);
 
-	// Create tasks : memory is deleted
+	// Create tasks
 	Rtabmap rtabmap;
+	if(inputDbPath.empty())
+	{
+		inputDbPath = "rtabmapconsole.db";
+		if(UFile::erase(inputDbPath) == 0)
+		{
+			printf("Deleted database \"%s\".\n", inputDbPath.c_str());
+		}
+	}
+	else
+	{
+		printf("Loading database \"%s\".\n", inputDbPath.c_str());
+	}
 	// Disable statistics (we don't need them)
 	pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
-	// use default working directory
-	pm.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), Parameters::defaultRtabmapWorkingDirectory()));
 	pm.insert(ParametersPair(Parameters::kRGBDEnabled(), "false"));
 
-	rtabmap.init(pm);
+	rtabmap.init(pm, inputDbPath);
 	rtabmap.setTimeThreshold(timeThreshold); // in ms
 
 	printf("Avpd init time = %fs\n", timer.ticks());
@@ -407,7 +432,7 @@ int main(int argc, char * argv[])
 	}
 	if(rtabmap.getWM().size() || rtabmap.getSTM().size())
 	{
-		printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap.getWorkingDir()+Parameters::getDefaultDatabaseName()).c_str());
+		printf("[Warning] RTAB-Map database is not empty (%s)\n", inputDbPath.c_str());
 	}
 	printf("\nProcessing images...\n");
 
@@ -531,5 +556,7 @@ int main(int argc, char * argv[])
 
 	printf(" Cleanup time = %fs\n", timer.ticks());
 
+	printf("Database (\"%s\") and log files saved to current directory.\n", inputDbPath.c_str());
+
 	return 0;
 }