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Clean up the data of the intermediate node when IntermediateNodeDataKept is false

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This commit is contained in:
Borong Yuan
2026-05-06 12:16:24 +08:00
parent 58792f7b0f
commit 3c9c2891ff
1 changed files with 24 additions and 2 deletions
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corelib/src/Memory.cpp
+24 -2
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@@ -3051,6 +3051,14 @@ void Memory::convertToIntermediate(int locationId)
if(location)
{
location->setWeight(-1);
if(!_saveIntermediateNodeData)
{
this->disableWordsRef(locationId);
location->removeAllWords();
location->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
location->sensorData().clearCompressedData(true, false, false);
location->sensorData().clearRawData(true, false, false);
}
}
}
@@ -4329,7 +4337,14 @@ bool Memory::rehearsalMerge(int oldId, int newId)
// just update weight
int w = oldS->getWeight()>=0?oldS->getWeight():0;
newS->setWeight(w + newS->getWeight() + 1);
oldS->setWeight(intermediateMerge?-1:0); // convert to intermediate node
if(intermediateMerge)
{
this->convertToIntermediate(oldS->id());
}
else
{
oldS->setWeight(0);
}
if(_lastGlobalLoopClosureId == oldS->id())
{
@@ -4340,7 +4355,14 @@ bool Memory::rehearsalMerge(int oldId, int newId)
{
int w = newS->getWeight()>=0?newS->getWeight():0;
oldS->setWeight(w + oldS->getWeight() + 1);
newS->setWeight(intermediateMerge?-1:0); // convert to intermediate node
if(intermediateMerge)
{
this->convertToIntermediate(newS->id());
}
else
{
newS->setWeight(0);
}
}
}
}