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Save intermediate node input features (#1698)

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* Avoid removing nodes from STM when using CreateIntermediateNodes

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

* Save intermediate node input features

* Don't delete intermediate nodes

* comment typo

* Updated parameter description, bump patch for DBReader API chang

* When ID is not udpated to new one, don't disable words because that signature is still used in the bayes filter

* updated comment

* rtabmap-reprocess: support Rtabmap/DetectionRate when intermediate nodes are created and -skip option is not used

* Fixed smallMovement when rehearsal is not trigdered at the same time

* GUI: visualize rehearsal darkblue when intermediate nodes are used

* Fixed RtabmapThread not transfering input features on intermediate nodes

* Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working

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Co-authored-by: Borong Yuan <[email protected]>
This commit is contained in:
matlabbe
2026-05-14 09:20:09 -07:00
committed by GitHub
co-authored by Borong Yuan
parent afe8aadff1
commit 8d0692eab0
14 changed files with 704 additions and 505 deletions
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corelib/src/RtabmapThread.cpp
-1
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@@ -556,7 +556,6 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
// set negative id so rtabmap will detect it as an intermediate node
SensorData tmp = odomEvent.data();
tmp.setId(-1);
tmp.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());// remove features
_dataBuffer.push_back(OdometryEvent(tmp, odomEvent.pose(), odomInfo));
}
else