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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

---------

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/SensorData.cpp
+18 -2
View File
@@ -976,7 +976,7 @@ unsigned long SensorData::getMemoryUsed() const // Return memory usage in Bytes
(_descriptors.empty()?0:_descriptors.total()*_descriptors.elemSize());
}
void SensorData::clearCompressedData(bool images, bool scan, bool userData)
void SensorData::clearCompressedData(bool images, bool scan, bool userData, bool occupancyGrid)
{
if(images)
{
@@ -992,14 +992,24 @@ void SensorData::clearCompressedData(bool images, bool scan, bool userData)
{
_userDataCompressed=cv::Mat();
}
if(occupancyGrid)
{
_groundCellsCompressed=cv::Mat();
_emptyCellsCompressed=cv::Mat();
_obstacleCellsCompressed=cv::Mat();
}
}
void SensorData::clearRawData(bool images, bool scan, bool userData)
void SensorData::clearRawData(bool images, bool scan, bool userData, bool occupancyGrid)
{
if(images)
{
_imageRaw=cv::Mat();
_depthOrRightRaw=cv::Mat();
_depthConfidenceRaw=cv::Mat();
#ifdef HAVE_OPENCV_CUDEV
_imageRawGpu = cv::cuda::GpuMat();
_depthOrRightRawGpu = cv::cuda::GpuMat();
#endif
}
if(scan)
{
@@ -1009,6 +1019,12 @@ void SensorData::clearRawData(bool images, bool scan, bool userData)
{
_userDataRaw=cv::Mat();
}
if(occupancyGrid)
{
_groundCellsRaw=cv::Mat();
_emptyCellsRaw=cv::Mat();
_obstacleCellsRaw=cv::Mat();
}
}