i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed assert on words index <0 when addMoreLoopClosures is called

Browse Source
This commit is contained in:
matlabbe
2025-12-18 16:38:13 -08:00
parent af7ff60a6c
commit 26573456c2
3 changed files with 6 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/Memory.cpp
View File

@@ -4305,8 +4305,7 @@ void Memory::getNodeWordsAndGlobalDescriptors(int nodeId,
}
if(!words.empty() && wordsKpts.empty() && _dbDriver)
{
std::multimap<int, int> tmpWords;
_dbDriver->getLocalFeatures(nodeId, tmpWords, wordsKpts, words3, wordsDescriptors);
_dbDriver->getLocalFeatures(nodeId, words, wordsKpts, words3, wordsDescriptors);
}
}

6
corelib/src/RegistrationVis.cpp
View File

@@ -333,11 +333,12 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("Feature Detector = %d", (int)_detectorFrom->getType());
UDEBUG("guess=%s", guess.prettyPrint().c_str());
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
fromSignature.id(),
(int)fromSignature.getWords().size(),
(int)fromSignature.getWords3().size(),
(int)fromSignature.getWordsDescriptors().rows,
(int)fromSignature.getWordsKpts().size(),
(int)fromSignature.sensorData().keypoints().size(),
(int)fromSignature.sensorData().keypoints3D().size(),
fromSignature.sensorData().descriptors().rows,
@@ -346,11 +347,12 @@ Transform RegistrationVis::computeTransformationImpl(
(int)fromSignature.sensorData().cameraModels().size(),
(int)fromSignature.sensorData().stereoCameraModels().size());
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
toSignature.id(),
(int)toSignature.getWords().size(),
(int)toSignature.getWords3().size(),
(int)toSignature.getWordsDescriptors().rows,
(int)toSignature.getWordsKpts().size(),
(int)toSignature.sensorData().keypoints().size(),
(int)toSignature.sensorData().keypoints3D().size(),
toSignature.sensorData().descriptors().rows,

1
corelib/src/Rtabmap.cpp
View File

@@ -5638,6 +5638,7 @@ int Rtabmap::detectMoreLoopClosures(
const ProgressState * processState,
float clusterRadiusMin)
{
UDEBUG("");
UASSERT(iterations>0);
if(_graphOptimizer->iterations() <= 0)