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Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.

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This commit is contained in:
matlabbe
2020-09-28 10:29:14 -04:00
parent c5158cade5
commit 933ac736f1
13 changed files with 253 additions and 78 deletions
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corelib/src/DBDriverSqlite3.cpp
+4 -1
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@@ -2377,6 +2377,7 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildre
query << "INNER JOIN Link ";
query << "ON id = to_id "; // use to_id to ignore all children (which don't have link pointing on them)
query << "WHERE from_id != to_id "; // ignore self referring links
query << "AND weight>-9 "; //ignore invalid nodes
}
if(ignoreBadSignatures)
@@ -3622,6 +3623,7 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
int descriptorSize;
const void * descriptor;
int dRealSize;
unsigned long dRealSizeTotal = 0;
for(std::set<int>::const_iterator iter=wordIds.begin(); iter!=wordIds.end(); ++iter)
{
// bind id
@@ -3654,6 +3656,7 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
}
memcpy(d.data, descriptor, dRealSize);
dRealSizeTotal+=dRealSize;
VisualWord * vw = new VisualWord(*iter, d);
if(vw)
{
@@ -3675,7 +3678,7 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time=%fs", timer.ticks());
UDEBUG("Time=%fs (%d words, %lu MB)", timer.ticks(), (int)vws.size(), dRealSizeTotal/1000000);
if(wordIds.size() != loaded.size())
{