i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-10 03:49:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

updating words have changed with getNodeWordsAndGlobalDescriptors()

Browse Source
This commit is contained in:
matlabbe
2025-12-18 17:09:06 -08:00
parent 26573456c2
commit 07c3b8c901
1 changed files with 23 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+23 -4
View File
@@ -4276,6 +4276,29 @@ void Memory::getNodeWordsAndGlobalDescriptors(int nodeId,
words3 = s->getWords3(); words3 = s->getWords3();
wordsDescriptors = s->getWordsDescriptors(); wordsDescriptors = s->getWordsDescriptors();
globalDescriptors = s->sensorData().globalDescriptors(); globalDescriptors = s->sensorData().globalDescriptors();
if(!words.empty() && wordsKpts.empty() && _dbDriver)
{
std::multimap<int, int> tmpWords;
_dbDriver->getLocalFeatures(nodeId, tmpWords, wordsKpts, words3, wordsDescriptors);
if(!tmpWords.empty() && !wordsKpts.empty())
{
UASSERT(tmpWords.size() == words.size());
std::map<int, int> wordsChanged = s->getWordsChanged();
for(const auto & iter: wordsChanged) {
std::list<int> subwords = uValues(tmpWords, iter.first); // old id
if(subwords.size())
{
tmpWords.erase(iter.first);
for(std::list<int>::const_iterator jter=subwords.begin(); jter!=subwords.end(); ++jter)
{
tmpWords.insert(std::pair<int, int>(iter.second, (*jter))); // new id
}
}
}
words = tmpWords;
}
}
} }
else if(_dbDriver) else if(_dbDriver)
{ {
@@ -4303,10 +4326,6 @@ void Memory::getNodeWordsAndGlobalDescriptors(int nodeId,
} }
} }
} }
if(!words.empty() && wordsKpts.empty() && _dbDriver)
{
_dbDriver->getLocalFeatures(nodeId, words, wordsKpts, words3, wordsDescriptors);
}
} }
void Memory::getNodeCalibration(int nodeId, void Memory::getNodeCalibration(int nodeId,