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Fixed dummy dictionary usage for detectMoreLoopClosures. Added checks to disable graph reduction when intermediate nodes are detected.

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matlabbe
2026-07-17 17:06:30 -07:00
parent bc90058612
commit 17441f9347
9 changed files with 73 additions and 43 deletions
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corelib/include/rtabmap/core/DBDriver.h
+2 -2
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@@ -162,7 +162,7 @@ public:
void executeNoResult(const std::string & sql) const;
// Load objects
void load(VWDictionary & dictionary, bool lastStateOnly = true) const;
void load(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;
void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
@@ -279,7 +279,7 @@ protected:
virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
// Load objects
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const = 0;
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const = 0;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
corelib/include/rtabmap/core/DBDriverSqlite3.h
+1 -1
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@@ -138,7 +138,7 @@ protected:
virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const;
// Load objects
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const;
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
corelib/include/rtabmap/core/Rtabmap.h
+2
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@@ -403,6 +403,8 @@ private:
int _pathStuckCount;
float _pathStuckDistance;
bool _dummyDictionary;
#ifdef RTABMAP_PYTHON
PythonInterface * _python;
#endif
corelib/include/rtabmap/core/VWDictionary.h
-3
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@@ -108,8 +108,6 @@ public:
void setIncrementalDictionary();
void setFixedDictionary(const std::string & dictionaryPath);
bool isModified() const;
void setAutoUpdate(bool enabled) {_autoUpdate = enabled;} // Enable/Disable internal update when parameters change, update() has to be externally triggered if disabled.
bool isAutoUpdateEnabled() const {return _autoUpdate;}
std::vector<unsigned char> serializeIndex() const;
void deserializeIndex(const std::vector<unsigned char> & data);
@@ -150,7 +148,6 @@ private:
cv::Mat _dataTree;
bool _modified;
NNStrategy _strategy;
bool _autoUpdate;
std::map<int ,int> _mapIndexId;
std::map<int ,int> _mapIdIndex;
std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>, note that these words stay in _visualWords