i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 09:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Save intermediate node input features (#1698)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/MainWindow.cpp
+13 -2
View File
@@ -2107,6 +2107,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
// For intermediate empty nodes, keep latest image shown
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
if(signature.getWeight() >= 0)
{
_ui->imageView_source->clear();
@@ -2131,7 +2132,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->clear();
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
@@ -2455,6 +2455,18 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms (update loop closure viewer)", time.restart());
}
}
else if(rehearsedSimilarity)
{
_ui->imageView_source->setBackgroundColor(Qt::darkBlue);
}
else if(smallMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
else if(fastMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::magenta);
}
// PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
@@ -2712,7 +2724,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
Signature & s = *_cachedSignatures.find(stat.refImageId());
_cachedMemoryUsage -= s.sensorData().getMemoryUsed();
s.sensorData().clearRawData();
s.sensorData().clearOccupancyGridRaw();
_cachedMemoryUsage += s.sensorData().getMemoryUsed();
}