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Detect more loop closures from/to specific map ID only option (#1653)

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* Detect more loop closures from/to specific map ID only option

* default value -1

* Added elapsed time

* Avoid loading ALL signatures in RAM, only load them when necessary

* Avoid creating flann index when initializing with Kp/NNStrategy>=3

* Setting opt params by default
This commit is contained in:
matlabbe
2026-02-13 10:49:12 -08:00
committed by GitHub
parent d6cf470402
commit 0ef907757b
6 changed files with 234 additions and 109 deletions
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corelib/src/VWDictionary.cpp
+14 -6
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@@ -571,19 +571,27 @@ void VWDictionary::update()
else if(_strategy >= kNNBruteForce &&
_notIndexedWords.size() &&
_removedIndexedWords.size() == 0 &&
_visualWords.size() &&
_dataTree.rows)
_visualWords.size())
{
//just add not indexed words
int i = _dataTree.rows;
_dataTree.reserve(_dataTree.rows + _notIndexedWords.size());
if(!_dataTree.empty()) {
_dataTree.reserve(_dataTree.rows + _notIndexedWords.size());
}
for(std::set<int>::iterator iter=_notIndexedWords.begin(); iter!=_notIndexedWords.end(); ++iter)
{
VisualWord* w = uValue(_visualWords, *iter, (VisualWord*)0);
UASSERT(w);
UASSERT(w->getDescriptor().cols == _dataTree.cols);
UASSERT(w->getDescriptor().type() == _dataTree.type());
_dataTree.push_back(w->getDescriptor());
if(_dataTree.empty())
{
_dataTree = w->getDescriptor().clone();
}
else
{
UASSERT(w->getDescriptor().cols == _dataTree.cols);
UASSERT(w->getDescriptor().type() == _dataTree.type());
_dataTree.push_back(w->getDescriptor());
}
_mapIndexId.insert(_mapIndexId.end(), std::pair<int, int>(i, w->id()));
std::pair<std::map<int, int>::iterator, bool> inserted = _mapIdIndex.insert(std::pair<int, int>(w->id(), i));
UASSERT(inserted.second);