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If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.

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matlabbe
2021-07-28 14:32:32 -04:00
parent 79d2b3fade
commit 138d4aa1be
4 changed files with 11 additions and 9 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -368,7 +368,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
RTABMAP_PARAM(RGBD, LoopClosureIdentityGuess, bool, false, uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()));
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes.");
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");

8
corelib/src/DBDriverSqlite3.cpp
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@@ -878,22 +878,22 @@ long DBDriverSqlite3::getFeaturesMemoryUsedQuery() const
std::string query;
if(uStrNumCmp(_version, "0.13.0") >= 0)
{
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + ifnull(length(depth_x),0) + ifnull(length(depth_y),0) + ifnull(length(depth_z),0) + ifnull(length(descriptor_size),0) + ifnull(length(descriptor),0)) "
"FROM Feature";
}
else if(uStrNumCmp(_version, "0.12.0") >= 0)
{
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + ifnull(length(depth_x),0) + ifnull(length(depth_y),0) + ifnull(length(depth_z),0) + ifnull(length(descriptor_size),0) + ifnull(length(descriptor),0)) "
"FROM Map_Node_Word";
}
else if(uStrNumCmp(_version, "0.11.2") >= 0)
{
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + ifnull(length(depth_x),0) + ifnull(length(depth_y),0) + ifnull(length(depth_z),0) + ifnull(length(descriptor_size),0) + ifnull(length(descriptor),0)) "
"FROM Map_Node_Word";
}
else
{
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + ifnull(length(depth_x),0) + ifnull(length(depth_y),0) + ifnull(length(depth_z),0) "
"FROM Map_Node_Word";
}

4
corelib/src/Memory.cpp
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@@ -5285,7 +5285,9 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
compressedUserData));
}
s->setWords(words, wordsKpts, words3D, wordsDescriptors);
s->setWords(words, wordsKpts,
_reextractLoopClosureFeatures?std::vector<cv::Point3f>():words3D,
_reextractLoopClosureFeatures?cv::Mat():wordsDescriptors);
// set raw data
if(!cameraModels.empty())