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

2026-10-05 17:47:49 +08:00 · 2021-07-28 14:32:32 -04:00
parent 79d2b3fade
commit 138d4aa1be
4 changed files with 11 additions and 9 deletions
@@ -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())