i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Memory: ignore reextract features when registration is not visual

Browse Source
This commit is contained in:
matlabbe
2017-01-06 08:20:32 -05:00
parent 7fa559247d
commit 00c93abd1b
1 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
corelib/src/Memory.cpp
View File

@@ -2146,13 +2146,13 @@ Transform Memory::computeTransform(
// make sure we have all data needed
// load binary data from database if not in RAM (if image is already here, scan and userData should be or they are null)
if(((_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired()) && fromS.sensorData().imageCompressed().empty()) ||
if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && fromS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty()))
{
fromS.sensorData() = getNodeData(fromS.id());
}
if(((_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().laserScanCompressed().empty()) ||
(_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty()))
{
@@ -2161,27 +2161,27 @@ Transform Memory::computeTransform(
// uncompress only what we need
cv::Mat imgBuf, depthBuf, laserBuf, userBuf;
fromS.sensorData().uncompressData(
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&depthBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);
toS.sensorData().uncompressData(
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures || _registrationPipeline->isImageRequired())?&depthBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
_registrationPipeline->isScanRequired()?&laserBuf:0,
_registrationPipeline->isUserDataRequired()?&userBuf:0);
// compute transform fromId -> toId
std::vector<int> inliersV;
if(_reextractLoopClosureFeatures ||
if((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) ||
(fromS.getWords().size() && toS.getWords().size()) ||
(!guess.isNull() && !_registrationPipeline->isImageRequired()))
{
Signature tmpFrom = fromS;
Signature tmpTo = toS;
if(_reextractLoopClosureFeatures)
if(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())
{
UDEBUG("");
tmpFrom.setWords(std::multimap<int, cv::KeyPoint>());